Operational parameter based flight restriction

ABSTRACT

A system for operating a vehicle includes a first temperature sensor located at a first location and configured to measure a first temperature; a second temperature sensor located at a second location configured to measure a second temperature; and one or more processors. The one or more processors are individually or collectively configured to receive information regarding the first temperature and/or the second temperature; process the information; and impose a restriction affecting operation of the vehicle based on the processed information.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is a continuation of U.S. Patent App. Pub. Ser. No.16/205,476, file on Nov. 30, 2018, which is a continuation ofInternational Application No. PCT/CN/2016/083975, filed on May 30, 2016,the entire contents of both of which are incorporated herein byreference.

BACKGROUND

Aerial vehicles have a wide range of real-world applications includingsurveillance, reconnaissance, exploration, logistics transport, disasterrelief, aerial photography, large-scale agriculture automation, livevideo broadcasting, etc. Increasingly, an aerial vehicle carrying apayload (e.g., a camera) may be required to be able to complete a broadvariety of operations. In some instances, it may be desired or necessaryto run the variety of operations in unfavorable or even extremeenvironments. The usefulness of aerial vehicles may be improved bytaking into account the environments and/or monitoring an internal stateof the aerial vehicles and allowing operation of the aerial vehiclesthat appropriately take into account various circumstances.

SUMMARY

Presently, unmanned aerial vehicles (UAV) may be allowed to operatewithout properly taking into account a totality of circumstancesaffecting operation of the UAVs. For example, while factors external tothe UAV such as designated flight restriction zones or objects may limitoperation of the UAV, factors affecting operation of the UAV may not beproperly taken into account. In some instances, UAVs may be allowed tooperate without properly taking into account UAV conditions which mayadversely affect operation of the UAVs due to a mismatch betweenoperations that are permitted and operations capable of being undertakenby the UAV. For example, UAV actions that may lead to over-dischargingof the battery may be permitted despite presenting a risk for loss ofcontrol or crashing of the UAV.

Accordingly, a need exists for a UAV system that appropriately takesinto account a variety of factors, including operational factors thataffect operation of the UAV. For example, parameters related to anenergy source or power supplied to the UAV, such as a battery of theUAV, may be monitored and considered in permitting or barring certainUAV operations. A variety of parameters may be monitored and UAVoperations that are allowed may dynamically change depending on theUAV's internal state. In some instances, environmental conditions mayserve as a proxy to the internal state of the UAV, and the system mayutilize the environmental conditions in matching the internal state ofthe UAV to its permitted operations. An appropriate matching of theinternal state of the UAV to permitted operations may lead to a morereliable and efficient UAV performance and improved functionality.

Thus, in one aspect, a system for operating a vehicle is provided. Thesystem comprises: one or more processors, individually or collectivelyconfigured to: receive a parameter regarding operation of the vehicle;process the parameter regarding operation of the vehicle; and vary arestriction affecting operation of the vehicle based on the processingof the parameter.

In another aspect, an unmanned aerial vehicle (UAV) is provided. The UAVcomprises: one or more propulsion units that effect flight of the UAV;and one or more processors, individually or collectively configured to:receive a parameter regarding operation of the UAV; process theparameter regarding operation of the UAV; and vary a restrictionaffecting operation of the UAV based on the processing of the parameter.

In another aspect, a method for operating a vehicle is provided. Themethod comprises: with aid of one or more processors, individually orcollectively, receiving a parameter regarding operation of the vehicle;processing the parameter regarding operation of the vehicle; and varyinga restriction affecting operation of the vehicle based on the processingof the parameter.

In another aspect, a non-transitory computer readable medium foroperating a vehicle is provided. The non-transitory computer readablemedium comprises code, logic, or instructions to: receive a parameterregarding operation of the vehicle; process a parameter regardingoperation of the vehicle; and vary a restriction affecting operation ofthe vehicle based on the processing of the parameter.

In another aspect, a system for operating a vehicle is provided. Thesystem comprises: a first temperature sensor located at a first locationconfigured to measure a first temperature; a second temperature sensorlocated at a second location configured to measure a second temperature;one or more processors, individually or collectively configured to:receive information regarding the first temperature and/or the secondtemperature; process the information; and impose a restriction affectingoperation of the vehicle based on the processed information.

In another aspect, an unmanned aerial vehicle (UAV) is provided. The UAVcomprises: one or more propulsion units that effect flight of the UAV; afirst temperature sensor located at a first location configured tomeasure a first temperature; a second temperature sensor located at asecond location configured to measure a second temperature; one or moreprocessors, individually or collectively configured to: receiveinformation regarding the first temperature and/or the secondtemperature; process the information; and impose a restriction affectingoperation of the vehicle based on the processed information.

In another aspect, a method for operating a vehicle is provided. Themethod comprises: measuring, with aid of a first temperature sensorlocated at a first location, a first temperature; measuring, with aid ofa second temperature located at a second location, a second temperature;and with aid of one or more processors, individually or collectively,receiving information regarding the first temperature and/or the secondtemperature; processing the information; and imposing a restrictionaffecting operation of the vehicle based on the processed information.

In another aspect, a non-transitory computer readable medium foroperating a vehicle is provided. The non-transitory computer readablemedium comprises code, logic, or instructions to: receive informationregarding a first temperature measured at a first location and/or asecond temperature measured at a second location; process theinformation; and impose a restriction affecting operation of the vehiclebased on the processed information.

In another aspect, a system for operating of a vehicle is provided. Thesystem comprises: a sensing system configured to measure two or moreparameters associated with operation of the vehicle; and one or moreprocessors, individually or collectively configured to: receiveinformation regarding the two or more parameters associated withoperation of the vehicle, wherein each of the two or more parameters areassociated with a corresponding weight; process the receivedinformation; determine a restriction based on the processed information;and impose the restriction affection operation of the vehicle.

In another aspect, an unmanned aerial vehicle (UAV) is provided. The UAVcomprises: one or more propulsion units that effect flight of the UAV; asensing system configured to measure two or more parameters associatedwith operation of the UAV; and one or more processors, individually orcollectively configured to: receive information regarding the two ormore parameters associated with operation of the UAV, wherein each ofthe two or more parameters are associated with a corresponding weight;process the received information; determine a restriction based on theprocessed information; and impose the restriction on the UAV.

In another aspect, a method for operating a vehicle is provided. Themethod comprises: measuring, with aid of a sensing system, two or moreparameters associated with operation of the vehicle; with aid of one ormore processors, individually or collectively, receiving informationregarding the two or more parameters associated with operation of thevehicle, wherein each of the two or more parameters are associated witha corresponding weight; processing the received information; determininga restriction based on the processed information; and imposing therestriction affecting operation of the vehicle.

In another aspect, a non-transitory computer readable medium foroperating a vehicle is provided. The non-transitory computer readablemedium comprises code, logic, or instructions to:

receive information regarding two or more measured parameters associatedwith operation of the vehicle, wherein each of the two or moreparameters are associated with a corresponding weight; process thereceived information; determine a restriction based on the processedinformation; and impose the restriction affecting operation of thevehicle.

It shall be understood that different aspects of the disclosure can beappreciated individually, collectively, or in combination with eachother. Various aspects of the disclosure described herein may be appliedto any of the particular applications set forth below or for any othertypes of movable objects. Any description herein of an aerial vehiclemay apply to and be used for any movable object, such as any vehicle.Additionally, the systems, devices, and methods disclosed herein in thecontext of aerial motion (e.g., flight) may also be applied in thecontext of other types of motion, such as movement on the ground or onwater, underwater motion, or motion in space.

Other objects and features of the present disclosure will becomeapparent by a review of the specification, claims, and appended figures.

INCORPORATION BY REFERENCE

All publications, patents, and patent applications mentioned in thisspecification are herein incorporated by reference to the same extent asif each individual publication, patent, or patent application wasspecifically and individually indicated to be incorporated by reference.

BRIEF DESCRIPTION OF THE DRAWINGS

The novel features of the invention are set forth with particularity inthe appended claims. A better understanding of the features andadvantages of the present disclosure will be obtained by reference tothe following detailed description that sets forth illustrativeembodiments, in which the principles of the disclosure are utilized, andthe accompanying drawings of which:

FIG. 1 illustrates factors affecting operation of an unmanned aerialvehicle (UAV), in accordance with embodiments.

FIG. 2 illustrates a plurality of parameters taken into considerationfor imposing restrictions on a UAV, in accordance with embodiments.

FIG. 3 illustrates a method for operating a vehicle, in accordance withembodiments.

FIG. 4 illustrates a system for imposing a restriction taking intoconsideration battery parameters, in accordance with embodiments.

FIG. 5 illustrates a correspondence between a temperature of a batteryto a temperature coefficient, in accordance with embodiments.

FIG. 6 illustrates a correspondence between a voltage of a battery and avoltage coefficient, in accordance with embodiments.

FIG. 7 illustrates a correspondence between a voltage drop of a batteryand a voltage drop coefficient, in accordance with embodiments.

FIG. 8 illustrates a correspondence between a current of a battery and acurrent coefficient, in accordance with embodiments.

FIG. 9 illustrates a correspondence between a remaining capacity of abattery and a remaining capacity coefficient, in accordance withembodiments.

FIG. 10 illustrates a method for operating a vehicle, in accordance withembodiments.

FIG. 11 illustrates a system for flight control utilizing twotemperature sensors, in accordance with embodiments.

FIG. 12 illustrates a method for operating a vehicle, in accordance withembodiments.

FIG. 13 illustrates an unmanned aerial vehicle, in accordance with anembodiment of the disclosure.

FIG. 14 illustrates a movable object including a carrier and a payload,in accordance with an embodiment of the disclosure.

FIG. 15 is a schematic illustration by way of block diagram of a systemfor controlling a movable object, in accordance with an embodiment ofthe disclosure.

DETAILED DESCRIPTION

Systems, methods, and devices provided herein can be used to improveefficiency and operational capability of aerial vehicles. For example,the systems provided herein may enable aerial vehicles to operate inunfavorable conditions with predictability and without loss of control.For example, the systems provided herein may prolong a lifetime ofbatteries powering the aerial vehicles. The aerial vehicles as usedherein may refer to an unmanned aerial vehicle (UAV), or any other typeof movable object. In some instances, a limit on operation of the aerialvehicles may be inadequate and/or fail to take into account relevantfactors. For example, the limit or restrictions placed on UAVs may belimited to restriction on flight space. For example, the limit orrestrictions placed on UAVs may consider only external factors such asflight restricted regions, jurisdictional rules, or objects. In someinstances, flight or operations of the UAV may be allowed without takinginto account an internal state of the UAV.

In some instances, restrictions may be imposed on the UAV taking intoconsideration not only external factors, but factors affecting anoperation of the UAV itself. The factors affecting operation of the UAVmay herein be referred to as operational factors or parameters. Bytaking into account the operational parameters, appropriate restrictionson operation of the UAV may be imposed depending on circumstances, andnot just based on external objects or locations. In some instances, aplurality of operational parameters may be taken into account, given anappropriate weight and processed by one or more processors in order todetermine an appropriate restriction. The operational parameters mayinclude battery parameters operably coupled to the UAV.

It shall be understood that different aspects of the disclosure can beappreciated individually, collectively, or in combination with eachother. Various aspects of the disclosure described herein may be appliedto any of the particular applications set forth below or for any othertypes of remotely controlled vehicles or movable objects.

FIG. 1 illustrates factors affecting operation of an unmanned aerialvehicle (UAV), in accordance with embodiments. In some instances,restrictions 101 on UAV may be imposed based on external factors 103.The external factors, also referred to herein as external parameters,may include any factor directly relating to a first restriction set 102.In some instances, the external factors may be predetermined and/orsubstantially static factors. In some instances, the external factorsmay be factors non-specific to a UAV in question and applicable to abroad variety of UAVs or other vehicles. In some instances, the externalfactors may not be factors affecting an operational capability of UAVs.As non-limiting examples, the external factors may include laws andregulations of a jurisdiction, information regarding flight restrictedregions, external objects, etc. For example, the restriction may be analtitude restriction and the external factor may be altituderestrictions imposed on UAVs in accordance with jurisdictional rules. Asanother example, the restriction may be a flight prohibition near anairport and the external factor may be laws regarding flight restrictionwithin a vicinity of an airport.

The external factors may comprise information that is preloaded onto theUAV or downloaded from a database. For example, information regardingflight restricted regions may be preloaded on the UAV and/or downloadedfrom an online server and be used to restrict flight of the UAV. In someinstances, the external factors may be provided by appropriate users.For example, flight restriction regions may be designated by appropriatepersonnel or an airspace where flight is allowed may be prescribed bythe user. In some instances, external factors may be sensed by one ormore sensors in association with the UAV. For example, the UAV maycomprise imaging sensors and/or proximity sensors that are able todetect animate and/or inanimate objects.

The external factors may be processed or utilized in restricting a threedimensional space in which flight of the UAV is allowed. For example,the UAV may be prevented from entering a prohibited airspace (e.g., asprescribed by regulations of a country) or from coming too close to anexternal object. In some instances, the external factors may be utilizedin prescribing an operation of the UAV near a relevant airspace. Forexample, the UAV may be forced to fly under a certain velocity within aprescribed airspace.

In some instances, a UAV may be more efficiently and/or appropriatelyoperated if restrictions 101 are imposed taking into account anoperational capability 105 of the UAV. An operational capability of theUAV may differ at any given instance depending on a variety of otherfactors 107. If an operational capability of the UAV at a given momentis not considered in imposing restrictions, a mismatch may exist betweenwhat the UAV is permitted to do (e.g., as determined by restrictions101) and what the UAV is capable of doing (e.g., as determined by UAVoperational capability 105). In some instances, the mismatch betweenwhat the UAV is permitted to do and what the UAV is capable of doing maylead to unpredictability, unanticipated behavior, loss of control, oreven crashing of the UAVs.

The other factors, also referred to herein as operational factors 107may indirectly or directly affect a UAV's operational capability. Insome instances, the operational factors may comprise environmentalconditions, such as weather conditions. The environmental conditions maybe environmental conditions surrounding, or around a vicinity of, theUAV. The environmental conditions may include, but are not limited to awind speed, temperature, humidity, precipitation, pressure, etc around avicinity of the UAV. The environmental conditions may directly and/orindirectly affect an operational capability of the UAV. Theenvironmental conditions may also be referred to herein as environmentalparameters.

For example, wind speed above a threshold level may make it such thatpropulsion mechanisms of the UAV are unable to provide sufficient thrustfor the UAV to fly in a predictable or intended manner. As anotherexample, extreme temperatures may affect or even damage internalcomponents of the UAV such that the UAV is unable to fly in apredictable or intended manner. As another example, high humidity orprecipitation may disrupt certain components of the UAV (e.g., imagingsensors) from properly functioning such that the UAV is unable to fly ina predictable or intended manner.

The environmental conditions may be sensed by one or more sensors. Theone or more sensors may be provided on-board the UAV. For example,temperature and humidity sensors may be provided on-board the UAV formeasuring an environmental condition surrounding the UAV. Alternativelyor in addition, the one or more sensors may be provided off-board theUAV. For example, temperature and humidity sensors may be provided at aremote controller or mobile device coupled to the UAV and measurementsmay be used as an approximation for environmental conditions surroundingthe UAV. In some instances, the environmental conditions may bedownloaded from an external data base. For example, the UAV or acomponent coupled to the UAV (e.g., controller, mobile device, etc) maybe connected (e.g., via wireless connection) to an online database withinformation regarding environmental conditions such as temperature, windspeed, humidity, precipitation, pressure, etc. Based on the database anda location of the UAV (e.g., sensed by a GPS on board the UAV or on acontroller/mobile device coupled to the UAV), a relevant environmentalcondition may be downloaded for processing. In some instances, theenvironmental conditions may be updated in real time. Alternatively orin addition, the environmental conditions may be updated at apredetermined interval. The predetermined interval may be equal or lessthan about 0.1 second, 0.5 second, 1 second, 2 seconds, 5 seconds, 10seconds, 30 seconds, 1 minute, 5 minutes, 10 minutes, 30 minutes.

The sensed and/or downloaded environmental conditions may be processedand taken into consideration in order to better impose restrictions onthe UAV. For example, operation of the UAV may be prevented when anenvironmental temperature is above and/or below a certain threshold. Forexample, certain autonomous operations may be prevented when a windspeed of the environment around the UAV is above a certain threshold. Insome instances, a warning may be provided when a humidity orprecipitation is above a certain threshold such that an operator of theUAV is aware of UAV operational capability accounting for theenvironmental condition. In some instances, a plurality of operationalfactors may be processed into imposing an appropriate restriction on theUAV as further described below. For example, a temperature, wind speed,humidity, etc may be factored in or given an appropriate weight todetermine an appropriate restriction.

In some instances, the operational factors 107 may comprise UAVconditions, also referred to herein as UAV parameters. UAV conditionsmay comprise any number of factors related to a state of the UAV itself.Alternatively or in addition, the UAV conditions may comprise any numberof factors related to a state of devices or components coupled to theUAV, e.g., factors related to a state of remote controllers or mobiledevices coupled to the UAV. In some instances, the UAV may comprisereplaceable or modifiable parts (e.g., UAV has a modular design) and theUAV conditions may take into account parameters related to the parts(e.g., a weight of the parts). In some instances, the UAV conditions maybe associated with a year of manufacture, a weight, battery parameters,electrical connectivity, wireless connectivity, balance, temperature, orhumidity of the UAV. The UAV conditions may directly and/or indirectlyaffect an operational capability of the UAV. In some instances, the UAVconditions may give an insight into when a user input may effectbehavior of the UAV that is unpredictable or unanticipated.

For example, a heavy payload coupled to the UAV may make it such thatthe UAV is unable to change a direction with its maximum speed withoutlosing its balance as compared to having a lighter payload. As anotherexample, sporadic or weak wireless signal may make it such that the UAVis unresponsive to real time commands. As another example, affecting achange in a battery parameter of the UAV may affect operationalcapability of the UAV in a variety of ways, as further described below.

The UAV conditions may be sensed by one or more sensors. The one or moresensors may be provided on-board the UAV. For example, temperature andhumidity sensors may be provided on-board the UAV for measuring a UAVcondition. Alternatively or in addition, the one or more sensors may beprovided off-board the UAV. For example, temperature and humiditysensors may be provided at a remote controller or mobile device coupledto the UAV for measuring relevant conditions of components coupled tothe UAV. The sensors as referred to herein may or may not comprisediscrete, or stand-alone sensors.

The sensed UAV conditions may be processed and taken into considerationin order to better impose restrictions on the UAV. In some instances,the sensed UAV conditions may be processed and taken into considerationin order to impose a second restriction set 104 on the UAV. For example,operation of the UAV may be prevented when a temperature of a battery ofcoupled to the UAV is above and/or below a certain threshold. As anotherexample, certain autonomous operations may be prevented when a weight ofcomponents coupled to the UAV are above a certain threshold. In someinstances, a warning may be provided when a component (e.g., sensor)coupled to the UAV is not fully functional. In some instances, aplurality of external factors may be processed into imposing anappropriate restriction on the UAV as further described below. Forexample, a plurality of batter parameters for the UAV may be factored inor given an appropriate weight to determine an appropriate restriction104.

FIG. 2 illustrates a plurality of parameters 202 taken intoconsideration for imposing restrictions 206 on a UAV, in accordance withembodiments. The plurality of parameters may include external factors aswell as operational factors discussed herein. For example, the pluralityof parameters may comprise UAV conditions such as UAV temperature or UAVwireless signal strength, etc. As another example, the plurality ofparameters may comprise environmental conditions such as weatherconditions. In some instances, the plurality of parameters may compriseparameters of a battery operably coupled to the UAV as further describedbelow. For example, the plurality of parameters may include a voltage ofthe battery, voltage drop of the battery, current of the battery,temperature of the battery, power of the battery, total capacity of thebattery, remaining capacity of the battery, internal resistance of thebattery, and/or discharge rate of the battery, amongst others.

Any number of parameters may be taken into consideration. For example,1, 2, 3, 4, 5, 7, 10, 15, 20, or more parameters may be taken intoconsideration for imposing restrictions on the UAV. The plurality ofparameters 202 may represent all parameters that potentially are takeninto consideration for imposing restrictions on the UAV. Not allparameters necessarily must be taken into consideration for actuallyimposing the restrictions. In some instances, depending oncircumstances, different subsets of the plurality of parameters may betaken into consideration for imposing restrictions on the UAV. Thecircumstances may include, but are not limited to, environmentalconditions (e.g., temperature) and UAV state such as a position,orientation, velocity, or acceleration of the UAV, or an operationalmode the UAV is operating in. The different operational modes mayinclude, but are not limited to, a normal mode, idle mode, manual mode,semi-autonomous mode, autonomous mode, sport mode, or power-saving mode.For example, in a sport mode, the UAV may go faster or change directionswith greater responsiveness but with less obstacle avoidancecapabilities. As another example, the UAV may be operable in apower-saving mode which is configured to extend a duration of use of theUAV.

For example, a different subset of the parameters 202 may be considered(e.g. by the one or more processors 204) depending on whether the UAV ison the ground or in flight, depending on whether the UAV is flying aboveor below a certain velocity or acceleration, or depending on anoperational mode of the UAV. In some instances, a first subset of theparameters may be taken into consideration for imposing a firstrestriction on a UAV while a different second subset of the parametersmay be taken into consideration for imposing a second restriction on theUAV.

The plurality of parameters may be processed by one or more processors204. The one or more processors may be provided on-board the UAV.Alternatively or in addition, the one or more processors may be providedoff-board the UAV. The one or more processors may, individually orcollectively, process the plurality of parameters to impose one or morerestrictions 206. In some instances, the one or more processors may takeinto consideration the plurality of parameters (e.g., UAV parameters)and impose restrictions such as to ensure that the UAV remainsoperational and operates in a predictable or intended manner undernon-ideal conditions. In some instances, the one or more processors maytake into consideration the plurality of parameters (e.g., UAVparameters) and impose restrictions such as to match an operation thatis permitted for the UAV to an operation that the UAV is capable ofperforming.

The processing may be accomplished in real time. Alternatively, theprocessing may be done at a predetermined interval. The predeterminedinterval may be equal to, or less than about 0.01 s, 0.02 s, 0.05 s, 0.1s, 0.2 s, 0.5 s, 1 s, 2 s, 5 s, 10 s, 20 s, 50 s, 100 s, 200 s, 500 s,or 1000 seconds. The processing may involve evaluating the parameters inany appropriate way to determine one or more restrictions to impose,e.g. using tables, curves, functions, equations, etc. In some instances,the processing may involve processing the parameters to an appropriatevalue for further processing. For example, the processing may involveinputting the parameters into an equation or a function and determiningan output. For example, the processing may involve matching theparameters to one or more outputs according to a table or a curve. Theoutput may be further processed, e.g. using tables, curves, functions,equations, etc. For example, the output may be weighted and a weightedsum of the output may be compared against one or more predeterminedvalues to determine an appropriate restriction to impose. In someinstances, the output may comprise a coefficient that is unit-less. Theprocessing into an output (e.g. coefficient) may provide a convenientway to process a plurality of different sensed parameters each withpotentially different measuring units. While exemplary modes ofprocessing the parameters are provided, it is to be understood thatother ways of processing the parameters and imposing appropriaterestrictions may be contemplated.

In some instances, how the parameters are processed by the one or moreprocessors may change depending on circumstances. The circumstances mayinclude, but are not limited to, environmental conditions (e.g.,temperature) and UAV state such as a position, orientation, velocity, oracceleration of the UAV or an operational mode the UAV is operating in(e.g., manual mode, semi-autonomous mode, autonomous mode, etc). Forexample, a different table, function, equation, or curve may be utilizedfor processing depending on whether the UAV is on the ground or inflight, depending on whether the UAV is flying above or below a certainvelocity or acceleration, depending on an operational mode of the UAV,etc.

The one or more restrictions may be restrictions on an operation of theUAV. The one or more restrictions may be internal UAV restrictions. Insome instances, the one or more restrictions may prescribe operation ofthe UAV such that the UAV is forced to perform below its limits,capability, or default values. For example, the one or more restrictionsmay comprise a restriction on a velocity, angular velocity,acceleration, angular acceleration, deceleration, angular deceleration,permitted range, and/or permitted altitude of the vehicle. In someinstances, the one or more restrictions may comprise a restriction thatprevents the vehicle from performing a task. For example, the one ormore restrictions may prevent taking-off of the UAV. As another example,the one or more restrictions may prevent the UAV from entering anautonomous operational mode. The autonomous operational mode mayinclude, but are not limited to, warming up, waypoint flight, trackingmode, autonomous return, and/or autonomous landing. In some instances,the one or more restrictions may comprise a restriction that forces thevehicle to perform a task. For example, the one or more restrictions mayforce a return of the UAV or a landing of the UAV. As another example,the one or more restrictions may force the UAV to enter an autonomousoperational mode. The autonomous operational mode may include, but arenot limited to, warming up, waypoint flight, tracking mode, autonomousreturn, and/or autonomous landing. The warm up mode may be configured tomake one or more motors of the vehicle spin such that the vehicle warmsup. In some instances, the task may be providing a warning signal. Thewarning signal may be a visual, auditory, or haptic warning signal.

In some instances, the one or more restrictions may comprise arestriction that attenuates a user input. For example, a same user inputgiven by the user may have an attenuated effect on the UAV under arestriction as compared to a UAV under no restriction. In someinstances, a user input may be received on a controller or mobile deviceoperably coupled to the UAV. For example, a user may actuate a flightcontrol stick on a controller to control a position, orientation,velocity, and/or acceleration of the UAV. As another example, a user maytouch a screen (e.g. touch screen) of a mobile device to provide anavigational command that affects a position, orientation, velocity,and/or acceleration of the UAV. As another example, a user may utilizeone or more sensors on board the controller or mobile device (e.g. IMUsensors, microphone, vision sensor, etc) to provide a navigationalcommand that affects a position, orientation, velocity, and/oracceleration of the UAV.

Under no restriction, a user input may affect a position, orientation,velocity, and/or acceleration of the UAV by a predetermined amount. Asame user input given by the user may have an attenuated effect on theUAV under a restriction as compared to a UAV under no restriction. Insome instances, a same user input given by the user may be received byone or more processors on board the UAV as if a lesser degree of userinput had been given. For example, one or more processors off-board theUAV (e.g. processors of a remote control) may process the received inputand transmit signals to the UAV as if a lesser degree of user input hadbeen given. Alternatively or in addition, the UAV (e.g. one or moreprocessors on board the UAV) may receive the user input as if a normaldegree of user input had been given and process it such that it is as ifa lesser degree of user input had been given.

The attenuation may affect any operational characteristic of the UAV.For example, the attenuation may affect an acceleration (e.g. linearand/or angular acceleration) of the UAV. For example, the attenuationmay affect a velocity (e.g. linear and/or angular velocity) of the UAV.In some instances, the attenuation may affect (e.g. increase ordecrease) a radius of curvature of the UAV in a turn. As an example,fully actuating a control stick (e.g. forward) may send a navigationalcommand to the UAV to undergo a first acceleration and eventually reacha first velocity under no restrictions. This may happen for example, asactuation level of the control stick is received by a remote controlthat generates and/or transmits a signal to a flight control located onthe UAV. The flight control may in turn generate and/or transmit one ormore signals to an ESC controller coupled to propulsion units (e.g.motors) of the UAV affecting its velocity and/or acceleration. However,under one or more restrictions 206, a same user input (e.g. fullactuation of the control stick) may compel the UAV to undergo a secondacceleration and eventually reach a second velocity. In some instances,the second acceleration may be less than the first acceleration. In someinstances, the second acceleration may be less than the firstacceleration.

In some instances, the degree of attenuation may depend on anoperational mode of the UAV. For example, under sport mode, a samerestriction may have less effect on the UAV as compared to the samerestriction on the UAV operating in a normal mode. As another example, asame restriction may have greater effect on the UAV under power-savingmode as compared to the same restriction on the UAV operating in anormal mode.

The restrictions 206 imposed on the UAV may change depending on changingcircumstances. As previously described herein, each of the parameters202 themselves may change and/or how the parameters are processed maychange depending on circumstances. For example, battery parameters ofthe UAV may change during its operation. As another example, whichsubset of the parameters 202 are processed and/or how they are processedmay change during the UAV's operation. Accordingly, restrictions imposedon the UAV may change while the UAV remains in substantially the samelocation or area. In some instances, restrictions imposed on the UAV maychange while the UAV is turned on, or operational.

As a non-limiting example, each of the plurality of parameters 202 maybe processed by the one or more processors 204 into a correspondingoutput. The correspondence between the output and the parameter may bedefined by any relationship or rule. For example, the correspondence maybe described by curves, equations (e.g., functions), tables, e.g. asillustrated in FIGS. 5-9 below. The output may comprise a coefficientthat is unit-less, substantially as described above. Each of the outputmay further have a corresponding weight or value associated with it. Thecorresponding weight may be representative of an influence the parameterhas on an operational capability of the UAV. A corresponding weight orvalue may be a predetermined or static value. Alternatively, acorresponding weight or a value may be a dynamically changing value. Forexample, the corresponding weight or value may change depending onenvironmental conditions (e.g., temperature), UAV state (e.g. aposition, orientation, velocity, or acceleration of the UAV), or anoperational mode the UAV is operating in (e.g., manual mode,semi-autonomous mode, autonomous mode, etc).

In some instances, the one or more processors may be configured toobtain a weighted sum of the output multiplied by the correspondingweight or value. The one or more processors may be configured to furthercompare the weighted sum to a predetermined, or threshold value. In someinstances, the weighted sum may be compared to a plurality of differentthreshold values. Based on the comparison, the one or more processorsmay impose one or more restrictions on the UAV. The processing (e.g.comparison of a weighted sum to predetermined values) and imposition ofrestrictions on the UAV may occur in real time, or at predeterminedintervals, while the UAV is in operation. Accordingly, the restrictionson operation of the UAV may dynamically change during its operation.

For example, the UAV may be grounded. One or more processors,individually or collectively, may determine a weighted sum of theprocessed parameters and compare it to a threshold value. If theweighted sum is greater than the threshold value, the UAV may be allowedto take off and if less than the threshold value, the UAV may not beallowed to take off. In one example, the environment may be very cold,affecting a value of one or more parameters and a weighted sum may bedetermined to be less than a threshold value. Accordingly, the UAV maynot be allowed to take off. In some instances, the UAV may enter, or beforced to enter, warm up mode. During warm up mode, the UAV and/orbatteries of the UAV may be heated. For example, the warm up mode may beconfigured to make one or more motors of the vehicle spin such that thevehicle and/or its batteries warm up. Alternatively or in addition, aseparate heating mechanism (e.g. conductive heating, heater, etc) may beprovided for warming up the UAV and/or the batteries. Subsequently, theone or more processors may once again process a weighted sum which maybe determined to be greater than the threshold value, allowing the UAVto take off. The UAV may be allowed flight without restrictions on itsoperation initially. After a while, environmental conditions may change(e.g. it begins snowing), or a battery capacity of the UAV may bedrained, changing an operational parameter for the UAV. Accordingly, newrestrictions on the UAV may be imposed during flight of the UAV.

FIG. 3 illustrates a method 300 for operating a vehicle, in accordancewith embodiments. Method 300 may be an example of a method in which thedevices and systems described throughout may be utilized in. In step301, two or more parameters associated with operation of the vehicle maybe measured. Each of the two or more parameters may be a parameter thatdirectly and/or indirectly affects an operational capability of thevehicle. In some instances, the two or more parameters may comprise avehicular parameter. The vehicular parameter may be a parameterindicating or associated with a state of the vehicle. The state may bean internal state of the vehicle and/or one or more components of thevehicle. In some instances, the vehicular parameter comprises aparameter regarding on or more batteries operably coupled to thevehicle. In some instances, the two or more parameters may comprise anenvironmental parameter. The environmental parameter may be a parameterof an environment around a vicinity of the vehicle. In some instances,the environmental parameter may comprise a wind speed, temperature,humidity, precipitation, and/or pressure around a vicinity of thevehicle.

In some instances, the two or more parameters may be measured with aidof a sensing system. The sensing system may be located on or off-boardthe vehicle. In some instances, parts of the sensing system may belocated on-board the vehicle and parts of the sensing system may belocated off-board the vehicle. For example, the sensing system maycomprise thermistors (e.g. temperature sensors) located on-board thevehicle as well as sensors located on board a mobile device orcontroller coupled to the vehicle.

The two or more parameters may vary during operation of the vehicle. Insome instances, the two or more parameters may vary within a continuousnumerical range. For example, the two or more parameters may measurebattery parameters such as voltage, voltage drop, current, power, totalcapacity, remaining capacity, internal resistance, discharge rate, etcof a battery operably coupled to the UAV within a continuous numericalrange. In some instances, the two or more parameters may depend in parton a temperature of an environment around the vehicle. For example, someof the battery parameters (e.g. voltage, voltage drop, current, power,total capacity, remaining capacity, internal resistance, discharge rate,etc) may depend directly or indirectly on a temperature the vehicle isoperating in.

While two or more parameters are described as being taken into account,it is to be understood that the number of parameters may be arbitrary.In some instances, taking into account a greater number of factors maybe beneficial in appropriately matching an operational capability of thevehicle to an operation of the vehicle that is permitted. In someinstances, five or more parameters associated with operation of thevehicle may be measured. The five or more parameters may includeparameters of a battery operably coupled to the vehicle. For example,the five or more parameters may comprise a current, voltage, voltagedrop, temperature, power, total capacity, remaining capacity, internalresistance, and/or discharge rate of a battery operably coupled to thevehicle. In some instances, the five or more parameters may compriseparameters of an environment near or around the vehicle. For example,the five or more parameters may comprise a temperature near or aroundthe vehicle.

Steps 303-309 may be accomplished individually or collectively with aidof one or more processors. The one or more processors may be located onboard the vehicle. Alternatively or in addition, the one or moreprocessors may be located off-board the UAV and may be operativelycoupled to the vehicle. For example, the one or more processors may belocated on-board the UAV as well as on board a mobile device orcontroller coupled to the vehicle.

In step 303, information regarding the two or more parameters may bereceived. The information regarding the parameters may be received inreal time. Alternatively, the information regarding the parameters maybe received at a predetermined, or set interval. The predeterminedinterval may be equal to, or less than about 0.01 s, 0.02 s, 0.05 s, 0.1s, 0.2 s, 0.5 s, 1 s, 2 s, 5 s, 10 s, 20 s, 50 s, 100 s, 200 s, 500 s,or 1000 seconds.

In step 305, the received information may be processed and in step 307,a restriction to impose on the vehicle may be determined. Therestriction to impose may be determined based on the processing step. Insome instances, steps 305 and 307 may effectively comprise a singlestep. For example, the restriction to be imposed on the vehicle may bedetermined as a result of the processing of the received information.Accordingly, processing the received information may comprisedetermining a restriction based on the processed information.

In some instances the received information regarding parameters may beprocessed into an intermediate output. The intermediate output maycomprise a coefficient that is unit less. The processing into anintermediate output (e.g. coefficient) may provide a convenient way toprocess a plurality of different sensed parameters each with potentiallydifferent measuring units. The correspondence between the output and theparameter may be defined by any relationship or rule. For example, thecorrespondence may be described by curves, equations (e.g., functions),tables, etc. The information regarding the parameters and/orintermediate output may be associated with a corresponding weight. Forexample, a corresponding weight may be associated with each of the twoor more parameters, or an intermediate (processed) output of the two ormore parameters. In some instances, the one or more processors may beconfigured to assign a value to each of the two or more parameters orintermediate output, thereby associating the two or more parameters tothe corresponding weight. For example, depending on circumstancessubstantially described above, the one or more processors may assign anappropriate weight to each of the two or more parameters.

In some instances, a corresponding weight associated with the two ormore parameters may change depending on a state of the vehicle. Thestate of the vehicle may comprise different operational modes of thevehicle. The different operational modes may be modes selected by anoperator of the vehicle. Alternatively or in addition, the differentoperational modes may comprise different autonomous modes of thevehicle. In some instances, the state of the vehicle may depend onwhether the vehicle is idle, taking-off, landing, ascending, descending,accelerating, decelerating, hovering, cruising, or performing a specialoperation.

In some instances, a subset of the two or more parameters may beutilized to determine the restriction. The subset that is utilized maydiffer depending on a state of the vehicle. In some instances, the stateof the vehicle may comprise different operational modes of the vehicle.The different operational modes may be modes selected by an operator ofthe vehicle. For example, an operator of the vehicle may select betweenmanual, semi-autonomous, or autonomous modes. Alternatively or inaddition, the different operational modes may comprise differentautonomous modes of the vehicle. In some instances, the state of thevehicle may depend on whether the vehicle is idle, taking-off, landing,ascending, descending, accelerating, decelerating, hovering, cruising,or performing a special operation.

As an example, when the UAV is powered up (e.g. in an idle state) at lowtemperature, certain parameters may be immaterial. For example, abattery current and voltage drop may be close to zero as motors are notspinning. Therefore, the battery current and voltage drop may not beconsidered, or utilized to determine the restriction while otherparameters may be. In some instances, a restriction may be imposed suchthat the UAV is prohibited from taking off and the UAV may be forcedinto a warm up mode. In the warm up mode, motors of the UAV may spin andthe battery may be heated up such that the UAV is allowed to take off.In such cases, a notification may be sent to the user of the UAV,notifying that the UAV is ready for taking off. After the UAV takes off,parameters used to determine the restriction may be changed, e.g. moreparameters may be monitored and used to determine the restriction. Forexample, battery parameters including voltage, voltage drop, current,temperature, remaining capacity may be utilized as further describedbelow.

In some instances, the one or more processors may be configured tocompare a sum of the parameters (or an intermediate output of the two ormore parameters) multiplied by the corresponding weight to a thresholdvalue. The comparison may affect or determine restrictions that areimposed on the vehicle. For example, different restrictions may beimposed on the vehicle depending on whether the sum is greater or lessthan the threshold value. In some instances, the one or more processorsmay be configured to compare the sum of the parameters (or anintermediate output of the two or more parameters) multiplied by thecorresponding weight to two or more threshold values. Differentrestrictions may be imposed on the vehicle based on where the sum liescompared to the two or more threshold values.

In some instances, the restrictions to impose may be determined, orselected from a plurality of different restrictions. The plurality ofdifferent restrictions maybe predetermined restrictions that affect anoperation of the vehicle, or an operative capability of the vehicle. Insome instances, a subset of the plurality of different restrictions maybe imposed on the vehicle. The restrictions may comprise a restrictionon a velocity, angular velocity, acceleration, angular acceleration,deceleration, angular deceleration, or altitude of the vehicle. In someinstances, the restrictions may prevent the vehicle from performing atask. For example, the restrictions may prevent the vehicle fromtaking-off. Alternatively or in addition, the restrictions may preventthe vehicle from entering an autonomous operational mode. The autonomousoperational mode may include, but are not limited to, waypoint flight,tracking mode, autonomous return, or autonomous landing of the vehicle.In some instances, the restriction may force the vehicle to perform atask. For example, the restriction may force a return or landing of thevehicle. In some instances, the restriction may force the vehicle toenter an autonomous operational mode. The autonomous operational modemay include, but are not limited to, warming up, waypoint flight,tracking mode, autonomous return, and/or autonomous landing. Forexample, the restriction may force the vehicle to enter a warm up mode.In some instances, the restriction may affect or attenuate a user input,substantially as described above. For example, a same user input givenby the user may have an attenuated effect on the vehicle under therestriction as compared to the vehicle under no restriction. In someinstances, the user input may affect a change in a direction of thevehicle. Under the restriction, the change in direction of the vehiclemay occur more gradually as compared to a vehicle under no restrictionreceiving the same input. In some instances, the user input may affect achange in a speed of the vehicle. Under the restriction, the change inspeed of the vehicle may occur more gradually as compared to a vehicleunder no restriction receiving the same input. In some instances, theuser input may affect a change in a height of the vehicle. Under therestriction, the change in height of the vehicle may occur moregradually as compared to a vehicle under no restriction receiving thesame input.

In step 309, the restriction may be imposed on the vehicle. Optionally,steps 301 through 309 may be repeated at a predetermined interval, or inreal time. The predetermined interval may be equal to, or less thanabout 0.01 s, 0.02 s, 0.05 s, 0.1 s, 0.2 s, 0.5 s, 1 s, 2 s, 5 s, 10 s,20 s, 50 s, 100 s, 200 s, 500 s, or 1000 seconds. Accordingly, therestriction imposed on the vehicle may varied dynamically, e.g. in realtime or at predetermined time intervals.

In some instances, a system may be provided for implementing the method300. All elements described in the context of methods applies to thepractice of the subject systems, and vice versa. The system maycomprise: a sensing system configured to measure two or more parametersassociated with operation of the vehicle; and one or more processors,individually or collectively configured to: receive informationregarding the two or more parameters associated with operation of thevehicle, wherein each of the two or more parameters are associated witha corresponding weight; process the received information; determine arestriction based on the processed information; and impose therestriction affection operation of the vehicle.

In some instances, a UAV may be provided for implementing the method300. All elements described in the context of methods applies to thepractice of the subject UAVs, and vice versa. The UAV may comprise: oneor more propulsion units that effect flight of the UAV; a sensing systemconfigured to measure two or more parameters associated with operationof the UAV; and one or more processors, individually or collectivelyconfigured to: receive information regarding the two or more parametersassociated with operation of the UAV, wherein each of the two or moreparameters are associated with a corresponding weight; process thereceived information; determine a restriction based on the processedinformation; and impose the restriction on the UAV.

In some instances, a non-transitory computer readable medium may beprovided for implementing the method 300. All elements described in thecontext of methods applies to the practice of the subject computerreadable medium, and vice versa. The non-transitory computer readablemedium may comprise code, logic, or instructions to: receive informationregarding two or more measured parameters associated with operation ofthe vehicle, wherein each of the two or more parameters are associatedwith a corresponding weight; process the received information; determinea restriction based on the processed information; and impose therestriction affecting operation of the vehicle.

The operational parameters described herein may comprise variousinternal parameters of components on board the vehicle (e.g. the UAV).The components may include embedded components of the UAV (e.g. sensors,controllers, circuit boards, etc) external components, or componentsthat can be decoupled from the UAV (e.g. payload, gimbal, etc). As anon-limiting example, a relevant component may be a battery operablycoupled to the UAV. FIG. 4 illustrates a system for imposing arestriction taking into consideration battery parameters, in accordancewith embodiments. The battery referred to herein may comprise singlebattery. Alternatively, the battery may comprise a plurality ofbatteries. For example, the battery may be a battery assembly (or abattery pack) and may comprise a plurality of battery cells. The batterymay be integrated with the UAV. Alternatively or in addition, thebattery may be a replaceable component that is removably coupled withthe UAV. The battery may comprise lithium batteries, or lithium ionbatteries. While batteries, or battery assemblies are primarilydiscussed herein, it is to be understood that any alternative powersource or medium of storing energy, such as supercapacitors may beequally applicable to the present disclosure.

Parameters related to the battery may be sensed, e.g., with aid of acontroller 409. The controller may be in some instances be amicrocontroller located on board the battery, e.g. as part of anintelligent battery system 411. In some instances, parameters regardingthe battery may be sensed by or estimated using a separate sensing means(e.g. voltmeter, multi-meter, battery level detector, etc).

In some instances, parameters relating to a voltage 403 of the batterymay be sensed or sampled. Any parameter related to the voltage may besensed or sampled. For example, an actual voltage of the battery or avoltage drop of the battery may be sensed or sampled. The voltage dropof the battery may refer to a first order derivative of the voltage overtime. In some instances, parameters relating to a current 405 of thebattery may be sensed or sampled. Any parameter related to the currentmay be sensed or sampled. For example, an actual current moving throughthe battery may be sensed or sampled. In some instances, parametersrelating to a temperature 407 of the battery may be sensed or sampled.Any parameter related to the temperature may be sensed or sampled. Forexample, a temperature of the battery cell (e.g. cell temperature) maybe sensed or sampled. Alternatively or in addition, a temperature of anexterior of the battery may be sensed or sampled. The temperature insome instances may be sensed with aid of a temperature sensor such as athermistor. The temperature sensor may be located on an exterior of thebattery, or in between battery cells (e.g. for a battery pack). Otherbattery parameters may be sensed or sampled. The other batteryparameters may include, but are not limited to, a power, total capacity,remaining capacity, internal resistance, and/or discharge rate of thebattery.

For a battery pack or battery assembly, the sensed parameter may be aparameter of any of the battery cells. In some instances, the sensedparameter may be an average of the sensed parameters of the batterycells. For example, a plurality of temperatures may be sensed fordifferent battery cells of the battery pack and an average temperaturemay be determined and taken into consideration for further processing.In some instances, the sensed parameter may be a lowest sensed parameteror a highest sensed parameter of the battery cells. For example, aplurality of voltages may be sensed for different battery cells of thebattery pack and a voltage of a cell having the lowest voltage may betaken into consideration for further processing.

The sensed or sampled parameters may be transmitted to one or moreprocessors 415 for processing via connection 413. The connection 413 mayutilize a wired or wireless communication channel. In some instances,the controller 409 may be considered part of the one or more processorssubstantially described throughout and may participate in processing ofthe parameters. The processing may involve evaluating the parameters inany appropriate way to determine one or more restrictions to impose. Insome instances, each of the received or sensed parameters 403, 405, 407may be processed into an intermediate output for further processing. Theintermediate output may comprise a coefficient that is unit-less. Theprocessing into an intermediate output (e.g. coefficient) may provide aconvenient way to process a plurality of different sensed parameterseach with potentially different measuring units.

FIG. 5 illustrates a correspondence between a temperature of a batteryto a temperature coefficient, in accordance with embodiments. While FIG.5 shows a correspondence between a sensed temperature of a battery to aunit-less temperature coefficient defined by a curve, it is to beunderstood that the correspondence may be defined by any other meanssuch as by a table, equations, functions, etc. As shown, the temperaturecoefficient may increase as a temperature of the battery increases up toa first threshold temperature (e.g. 25° C.) and remain substantiallyconstant until reaching a second threshold temperature (e.g. 50° C.).Subsequently, the coefficient may decrease rapidly if the batterytemperature exceeds the second threshold temperature (e.g. 50° C.). Insome instances, the correspondence illustrated by FIG. 5 may signifythat a restriction may apply, or may be more likely to be imposed on theUAV at very hot or very cold temperatures, e.g. if the temperature ofthe battery is below the first threshold temperature or above the secondthreshold temperature.

FIG. 6 illustrates a correspondence between a voltage of a battery and avoltage coefficient, in accordance with embodiments. While FIG. 6 showsa correspondence between a sensed voltage of a battery to a unit-lessvoltage coefficient defined by a curve, it is to be understood that thecorrespondence may be defined by any other means such as by a table,equations, functions, etc. As shown, the voltage coefficient may remainat 0 until a voltage of the battery reaches a predetermined thresholdvoltage (e.g. 3 V). Subsequently, the voltage coefficient may increaseas the voltage increases until reaching a second threshold voltage (e.g.4.2 V) and remain substantially constant thereafter. In some instances,the correspondence illustrated by FIG. 6 may signify that a restrictionmay apply, or may be more likely to be imposed on the UAV once a voltageof the battery is below a threshold voltage.

In some instances, a correspondence between battery voltage and batterytemperature may be required for a UAV is allowed to take off. Forexample, a UAV may be allowed to take off only if both the batterytemperature and battery voltage meet a minimum requirement. For example,when the battery temperature is 0° C., the minimum battery voltagerequired may be 4250 V. For example, when the battery temperature is 5°C., the minimum battery voltage required may be 4200 V. For example,when the battery temperature is 15° C., the minimum battery voltagerequired may be 4100 V. For example, when the battery temperature is 20°C., the minimum battery voltage required may be 4100 V.

FIG. 7 illustrates a correspondence between a voltage drop of a batteryand a voltage drop coefficient, in accordance with embodiments. WhileFIG. 7 shows a correspondence between a sensed voltage drop of a batteryto a unit-less voltage drop coefficient defined by a curve, it is to beunderstood that the correspondence may be defined by any other meanssuch as by a table, equations, functions, etc. As shown, the voltagedrop coefficient may rapidly decrease to 0 as the voltage drop increasesto a predetermined threshold voltage drop (e.g. 1 V/s). In someinstances, the correspondence illustrated by FIG. 7 may signify that arestriction may apply, or may be more likely to be imposed on the UAVonce the voltage drop of the battery is nearing a threshold value.

FIG. 8 illustrates a correspondence between a current of a battery and acurrent coefficient, in accordance with embodiments. While FIG. 8 showsa correspondence between a current of a battery to a unit-less currentcoefficient defined by a curve, it is to be understood that thecorrespondence may be defined by any other means such as by a table,equations, functions, etc. As shown in both embodiment 801, the currentcoefficient may rapidly decrease to 0 as the current increases to apredetermined threshold current (e.g. 26 A). An alternative embodiment803 shows that in some instances, the current coefficient may rapidlydecrease to a predetermined value (e.g. 0.3) as the current increases toa predetermined threshold current (e.g. 20 A) and remain at thepredetermined value even if the current increases. In some instances,the correspondence illustrated by FIG. 8 may signify that a restrictionmay apply, or may be more likely to be imposed on the UAV once thecurrent of the battery is nearing a threshold current.

FIG. 9 illustrates a correspondence between a remaining capacity of abattery and a remaining capacity coefficient, in accordance withembodiments. While FIG. 9 shows a correspondence between a sensedremaining capacity of a battery to a unit-less remaining capacitycoefficient defined by a curve, it is to be understood that thecorrespondence may be defined by any other means such as by a table,equations, functions, etc. As shown, the remaining capacity coefficientmay rapidly decrease to 0 as the remaining capacity decreases to apredetermined capacity level (e.g. 0 mAh). In some instances, thecorrespondence illustrated by FIG. 9 may signify that a restriction mayapply, or may be more likely to be imposed on the UAV as the remainingcapacity nears depletion.

In some instances, a weighted sum of the coefficients may be calculated.The weighted sum may also be referred to herein as a final coefficient.In some instances, the final coefficient may be calculated according tothe formula (1)

(1)Coeff_(final)=a_(v)*Coeff_(v)+a_(ú)*Coeff_(ú)+a₁*Coeff₁+a_(T)*Coeff_(T)+a_(C)Coeff_(C) wherein: Coeff_(final) is the weighted sum, or finalcoefficient; a_(v) is the weight of voltage of the battery; a_(ú) is theweight of voltage drop of the battery; a₁ is the weight of current ofthe battery; a_(T) is the weight of temperature of the battery; a_(C) isth weight of a remaining capacity of the battery; Coeff_(v) is thecoefficient corresponding to voltage of the battery; Coeff_(ú) is thecoefficient corresponding to voltage drop of the battery; Coeff₁ is thecoefficient corresponding to current of the battery; Coeff_(T) is thecoefficient corresponding to temperature of battery; and Coeff_(C) isthe coefficient corresponding to remaining capacity of the battery. Eachof the weights may represent a degree of each battery parameterinfluencing a flight restriction imposed on UAV's flight. In someinstances, the values of weights may be predetermined.

In some instances, the values of weights may depend on environmentalconditions (e.g., temperature), UAV state (e.g. a position, orientation,velocity, or acceleration of the UAV), or an operational mode the UAV isoperating in (e.g., manual mode, semi-autonomous mode, autonomous mode,etc). As an example, if a motor of the UAV is not rotating (e.g. due toa low temperature environment), only the temperature and voltage of thebattery may be considered, as the current and voltage drop of thebattery may be very small. Accordingly, a weight of the temperature(a_(T)) and voltage (a_(v)) of the batteries may be increased, whileweights of other parameters may decrease (e.g. to 0). In some instances,if the motor of the UAV is not rotating, the UAV may be configured toenter a warm up mode, substantially as described herein. As anotherexample, if the UAV is on the ground, a weight of the temperature(a_(T)) and voltage (a_(v)) of the batteries may be increased, whileweights of other parameters may decrease (e.g. to 0). As anotherexample, if the UAV is flying above a certain threshold velocity, avoltage drop and remaining capacity of battery may be considered mostimportant, and their corresponding weights may be increased. As anotherexample, if the UAV is flying below a certain threshold velocity, avoltage and current of the battery may be considered most important, andtheir corresponding weights may be increased. As an example, a UAV maybe operable in different modes. The different modes may include, but arenot limited to, a normal mode, manual mode, semi-autonomous mode,autonomous mode, sport mode, or power-saving mode. For example, in asport mode, the UAV may go faster or change directions with greaterresponsiveness but with less obstacle avoidance capabilities. As anotherexample, the UAV may be operable in a power-saving mode which isconfigured to extend a duration of use of the UAV. In such cases, aweight of the parameters for each operational mode may be different.

The weighted sum may be compared to one or more threshold valuessubstantially as described above and one or more restrictions may beimposed on operation of the UAV. For example, if the weighted sumbecomes equal to or lower than a threshold value, the UAV may be forcedto enter an autonomous mode and return to a user. As another example, ifthe weighted sum becomes equal to or lower than a threshold value, theUAV may be forced to enter a different operational mode (e.g. switchfrom normal mode to sport mode or vice versa).

FIG. 10 illustrates a method 1000 for operating a vehicle, in accordancewith embodiments. Method 1000 may be an example of a method in which thedevices and systems described throughout may be utilized in. The method1000 may be accomplished individually or collectively with aid of one ormore processors. The one or more processors may be on board the vehicle.Alternatively or in addition, the one or more processors may be operablycoupled to the vehicle but may be off board the vehicle. For example,the one or more processors may be located on a controller or a mobiledevice coupled to the vehicle.

In step 1001, a parameter regarding an operation of a vehicle may bereceived. In some instances, the parameter may comprise a vehicularparameter. The vehicular parameter may be a parameter indicating orassociated with a state of the vehicle. The state may be an internalstate of the vehicle and/or one or more components of the vehicle. Insome instances, the vehicular parameter comprises a parameter regardingon or more batteries operably coupled to the vehicle. The one or morebatteries may be on board the vehicle. Alternatively or in addition, theone or more batteries may be operably coupled to the UAV but may be offboard the vehicle. For example, the one or more batteries may be locatedon a controller or a mobile device coupled to the UAV. In someinstances, the parameter comprises a plurality of different parametersregarding the battery. For example, the parameter may comprise acurrent, voltage, voltage drop, temperature, power, total capacity,remaining capacity, internal resistance, and/or discharge rate of theone or more batteries. The parameter regarding the one or more batteriesmay be received in real time. Alternatively, the parameter regarding theone or more batteries may be received at a predetermined interval. Thepredetermined interval may be equal to, or less than about 0.01 s, 0.02s, 0.05 s, 0.1 s, 0.2 s, 0.5 s, 1 s, 2 s, 5 s, 10 s, 20 s, 50 s, 100 s,200 s, 500 s, or 1000 seconds. In some instances, the parameter maycomprise an environmental parameter. The environmental parameter may bea parameter of an environment around a vicinity of the vehicle. In someinstances, the environmental parameter may comprise a wind speed,temperature, humidity, precipitation, and/or pressure around a vicinityof the vehicle.

In step 1003, the parameter regarding the operation of the vehicle maybe processed. For example, parameters regarding one or more batteriesmay be processed. In some instances, the parameter may be processeddifferently by the one or more processors depending on a state of thevehicle. For example, a weight given to the parameter, substantiallydescribed herein, may differ depending on the state of the vehicle. Thestate of the vehicle may comprise different operational modes of thevehicle. In some instances, the different operational modes comprisemodes selected by an operator of the vehicle. In some instances, thedifferent operational modes comprise different autonomous modes of thevehicle. Alternatively or in addition, the state of the vehicle dependson whether the vehicle is idle, taking-off, landing, ascending,descending, accelerating, decelerating, hovering, cruising, orperforming a special operation. Optionally, a restriction may bedetermined, e.g. during the step of 1003.

In step 1005, a restriction may be imposed on the vehicle based on theprocessing of the parameter. In some instances, the restriction imposedon the vehicle may comprise two or more different restrictions. In someinstances, two or more different restriction may be imposedsimultaneously on the vehicle. The restrictions may be globalrestrictions, e.g., without respect to a geographical location orexternal object. The restriction may match an operational capability ofthe vehicle to a permitted operation such that unpredictability ofbehavior is curbed. Optionally, steps 1001 through 1005 may be repeated,e.g. in real time or at predetermined intervals. The predeterminedinterval may be equal to, or less than about 0.01 s, 0.02 s, 0.05 s, 0.1s, 0.2 s, 0.5 s, 1 s, 2 s, 5 s, 10 s, 20 s, 50 s, 100 s, 200 s, 500 s,or 1000 seconds. Accordingly, the restriction imposed on the vehicle mayvaried dynamically, e.g. in real time or at predetermined timeintervals.

In some instances, imposing a restriction may comprise varying arestriction affecting operation of the vehicle. In some instances,varying a restriction may mean selecting between a plurality ofrestrictions. In some instances, the restriction imposed on the vehicleis varied in real time. For example, the restriction imposed maydynamically change any time during operation of the vehicle. Forexample, after continued flight in an environment (e.g. batterydischarge) and/or sudden change in environment (e.g. decrease intemperature), a restriction imposed on the vehicle may change, e.g.,during flight.

The restriction imposed on the vehicle may in some instances comprise arestriction on a velocity, angular velocity, acceleration, angularacceleration, deceleration, angular deceleration, or altitude of thevehicle. In some instances, the vehicle may be allowed to operate at10%, 20%, 30%, 40%, etc of a maximum performance capability.

In some instances, the restriction imposed on the vehicle may preventthe vehicle from performing a task. The task may be taking-off of thevehicle. In some instances, the task may be entering an autonomousoperational mode. The autonomous operational mode may comprise waypointflight, tracking mode, autonomous return, and/or autonomous landing.

In some instances, the restriction imposed on the vehicle may force thevehicle to perform a task. The task may be forcing a return or forcing alanding of the vehicle. In some instances, the task may be entering anautonomous operational mode. The autonomous operational mode mayinclude, but are not limited to, warming up, waypoint flight, trackingmode, autonomous return, and/or autonomous landing. The warm up mode maybe configured to make one or more motors of the vehicle spin such thatthe vehicle warms up. In some instances, the task may be providing awarning signal. The warning signal may be a visual, auditory, or hapticwarning signal.

In some instances, the restriction imposed on the vehicle may modify auser input. For example, while the method 1000 is taking place, the usermay give an input. The user input may be provided on any input device orinterface coupled to the vehicle. For example, the user input may begiven on a remote controller or a mobile device coupled to the vehicle.For example, the user input may be given on one or more joysticks on theremote controller. Alternatively or in addition, the user input may begiven on a mobile device. In some instances, the user input may besensed by a sensor on board the remote controller or a mobile device.The sensor may include sensors such as an inertial measurement unit(IMU), a microphone, a camera, etc.

The user input may have a modified effect for a vehicle underrestriction. For example, for a same degree of actuation (e.g. fullactuation) on joysticks on the remote controller, a vehicle underrestriction may behave differently from a vehicle under no restriction.In some instances, the restriction may attenuate an effect of the userinput, substantially as described throughout. For example, a same userinput given by the user may have an attenuated effect on the vehicleunder the restriction as compared to the vehicle under no restriction.In some instances, the user input may affect a change in a direction ofthe vehicle. Under the restriction, the change in direction of thevehicle may occur more gradually as compared to a vehicle under norestriction receiving the same input. In some instances, the user inputmay affect a change in a speed of the vehicle. Under the restriction,the change in speed of the vehicle may occur more gradually as comparedto a vehicle under no restriction receiving the same input. In someinstances, the user input may affect a change in a height of thevehicle. Under the restriction, the change in height of the vehicle mayoccur more gradually as compared to a vehicle under no restrictionreceiving the same input.

The varying of the restriction imposed on the vehicle may preventmalfunction of the vehicle. Varying the restriction may preventinsufficient power output by one or more batteries for a given operationof the vehicle. In some instances, based on the sensed parameter, theone or more processors may determine that the vehicle cannot effectuatea user input due to insufficient power output by the one or morebatteries. For example, based on the sensed parameter, the one or moreprocessors may determine that the vehicle cannot make a sharp turnwithout running into power output problems. For example, based on theparameter, the one or more processors may determine that the vehiclecannot operate under certain velocities or accelerations without runninginto power output problems. For example, based on the parameter, the oneor more processors may determine that the vehicle cannot implementcertain autonomous modes without running into power output problems.Accordingly, the one or more processors may impose a restriction tomatch a capability of the vehicle to a permitted operation.

Varying the restriction may prevent an over-discharging of the one ormore batteries during operation of the vehicle. In some instances, basedon the sensed parameter, the one or more processors may determine thatthe vehicle cannot effectuate a user input without over discharging thebattery. For example, based on the sensed parameter, the one or moreprocessors may determine that the vehicle cannot make a sharp turnwithout over discharging the battery. For example, based on theparameter, the one or more processors may determine that the vehiclecannot operate under certain velocities or accelerations without overdischarging the battery. For example, based on the parameter, the one ormore processors may determine that the vehicle cannot implement certainautonomous modes without over discharging the battery. Accordingly, theone or more processors may impose a restriction to match a capability ofthe vehicle to a permitted operation.

In some instances, varying the restriction may prevent a batteryprotection circuit from cutting off the output of the battery. Forexample, a battery operably coupled to the vehicle may be configured tocut off output of the battery to prevent over-discharging of thebattery. As the systems provided by the present disclosure prevent overdischarging as described above by preventing vehicle activity that couldover discharge the battery, use of the battery protection circuit may belimited.

In some instances, varying the restriction may prevent an unpredictableor unanticipated behavior of the UAV. In some instances, theunpredictable or unanticipated behavior is a crashing of the vehicle. Insome instances, the unpredictable or unanticipated behavior is a loss ofcontrol of the vehicle. The loss of control of the vehicle may be suchthat the vehicle does not operate according to a user's input. In someinstances, as use of the battery protection circuit may be limited,crashing of the vehicle due to circuit breaks may be prevented.

In some instances, the unpredictable or unanticipated behavior of theUAV may be a malfunction. The malfunction may be associated withenvironmental conditions. For example, very high and/or very lowtemperatures may cause malfunction of the UAV. In some instances,varying the restriction imposed on the vehicles based on the sensedparameter may prevent malfunction of the vehicles above a thresholdtemperature. The threshold temperature may be equal to or greater thanabout 50° C., 60° C., 70° C., 80° C., 90° C., or 100° C. In someinstances, varying the restriction imposed on the vehicles based on thesensed parameter may prevent malfunction of the vehicles below athreshold temperature. The threshold temperature may be equal to orlower than about 0° C.

In some instances, varying the restriction imposed on the vehiclemaximizes a use of the one or more batteries operably coupled to thevehicle. For example, the use of the one or more batteries may bemaximized by preventing a use of the one or more batteries beyond apredetermined maximum output power. In some instances, the predeterminedmaximum output power may be equal to or greater than 50 W, 100 W, 200 W,400 W, 600 W, 800 W, 1000 W, 2000 W, or 4000 W. In another example, theduration of the use of the one or more batteries may be ensured above athreshold duration. In some instances, the threshold duration is equalto or greater than 5 minutes, 7 minutes, 10 minutes, 15 minutes, 20minutes, 25 minutes, 30 minutes, 1 hour, 2 hours, 4 hours, or 10 hours.

In some instances, a system may be provided for implementing the method1000. All elements described in the context of methods applies to thepractice of the subject systems, and vice versa. The system may compriseone or more processors, individually or collectively configured to:receive a parameter regarding one or more batteries on board thevehicle; process the parameter regarding the one or more batteries; andvary a restriction affecting operation of the vehicle based on theprocessing of the parameter.

In some instances, a UAV may be provided for implementing the method1000. All elements described in the context of methods applies to thepractice of the subject UAVs, and vice versa. The UAV may comprise oneor more batteries on board the UAV; and one or more processors,individually or collectively configured to: receive a parameterregarding the one or more batteries on board the UAV; process theparameter regarding the one or more batteries; and vary a restrictionaffecting operation of the UAV based on the processing of the parameter.

In some instances, a non-transitory computer readable medium may beprovided for implementing the method 1000. All elements described in thecontext of methods applies to the practice of the subject computerreadable medium, and vice versa. The non-transitory computer readablemedium may comprise code, logic, or instructions to receive a parameterregarding one or more batteries on board the vehicle; process aparameter regarding the one or more batteries; and vary a restrictionaffecting operation of the vehicle based on the processing of theparameter.

Substantially as described herein, gathering information or dataregarding operational factors may help in imposing appropriaterestrictions on the UAV. In some instances, a flight control strategyfor the UAV may be better determined by taking into account differenttemperature measurements. The flight control strategy may involveimposing one or more restrictions on the UAV. For example, a flightcontrol strategy may be determined based on temperature differencesbetween a temperature of a battery operably coupled to the UAV and atemperature of the UAV. In some instances, the temperature differencemay be utilized in estimating a temperature of the battery cell moreaccurately and for imposing appropriate restriction, substantially asdescribed throughout.

FIG. 11 illustrates a system for flight control utilizing twotemperature sensors, in accordance with embodiments. The system maycomprise a means to measure temperatures at two or more locations. Forexample, the system may comprise a means to measure a first temperatureat a first location and a second temperature at a second location. Insome instances, the first temperature may be a temperature of a battery.The battery may be a battery operably coupled to a UAV. For example, thebattery may be a removable battery configured to be loaded onto a UAV.Alternatively, the battery may be an integrated battery located on boardthe UAV. In some instances, the battery may be a battery of a componentoperably coupled to the UAV. For example, the battery may be a batteryof a payload, add-on, remote controller, mobile device, etc operablycoupled to the UAV. The second temperature may be a temperature of aheat sink or heat source near the first temperature. In some instances,the second temperature may be a temperature of the environment.

In some instances, the first temperature may be measured with aid of afirst temperature sensor 1101. In some instances, the first temperaturesensor may be configured to measure an approximation of the firsttemperature. The first temperature sensor may comprise any means ofmeasuring a temperature. In some instances, the first temperature sensormay directly measure a temperature (e.g. Celsius, Fahrenheit).Alternatively, the first temperature sensor may indirectly measure atemperature. For example, the first temperature sensor may comprise athermistor any may indirectly measure a temperature by measuring aresistance of the thermistor. In some instances, the thermistor may be anegative temperature coefficient (NTC) thermistor.

The first temperature sensor may be located at a first location. In someinstances, the first location may be on or near the battery. Forexample, the first temperature sensor may be located on or near anexterior of the battery, or battery pack. In some instances, the firsttemperature sensor may be located at a distance equal to or less than 5cm, 4 cm, 3 cm, 2 cm, 1 cm, or 0.5 cm of an exterior of the battery. Fora battery pack, the first temperature sensor may be located betweenbattery cells of the battery pack. The first temperature sensor may beconfigured to approximate a temperature of the battery.

In some instances, the second temperature may be measured with aid of asecond temperature sensor 1103. In some instances, the secondtemperature sensor may be configured to measure an approximation of thesecond temperature. The second temperature sensor may comprise any meansof measuring a temperature. In some instances, the second temperaturesensor may directly measure a temperature (e.g. Celsius, Fahrenheit).Alternatively, the second temperature sensor may indirectly measure atemperature. For example, the second temperature sensor may comprise athermistor any may indirectly measure a temperature by measuring aresistance of the thermistor. In some instances, the thermistor may be anegative temperature coefficient (NTC) thermistor.

The second temperature sensor may be located at a second location. Thesecond location may be on-board the UAV. In some instances, the secondlocation may be on or near an exterior of the UAV. In some instances,the second location may be on a landing gear of the UAV. In someinstances, the second location may be within an interior of a housing ofthe UAV. Alternatively, the second location may be off-board the UAV.For example, the second location may be on board a remote controller ora mobile device operably coupled to the UAV. In some instances, thesecond location may be in a general vicinity of the UAV but not operablycoupled to the UAV. For example, the second temperature sensor may beprovided by third parties (e.g. weather channels, meteorologicalstations, etc) unaffiliated with the UAV to measure the temperature fortheir own benefit. The second temperature sensor may be configured toapproximate a temperature of the environment in which the UAV operatesin. The second temperature sensor may be configured to approximate atemperature of component(s) that can act as a heat source and supplyheat to a battery. In addition, the second temperature sensor may beconfigured to approximate a temperature of component(s) that can act asa heat sink and take away heat from a battery.

One or more processors 1105 may receive information regarding the firsttemperature and/or the second temperature. For example, the firsttemperature and/or the second temperature sensed by the temperaturesensors may be transmitted to the one or more processors. In someinstances, the second temperature may be obtained from sources such asmeteorological stations, applications, weather channels through awireless and/or cellular connection and may be transmitted to the one ormore processors. The one or more processors may be provided on-board theUAV. Alternatively or in addition, the one or more processors may beprovided off-board the UAV. The one or more processors may, individuallyor collectively, process the received information to control flight ofthe UAV, e.g. by imposing restrictions 1109.

In some instances, the one or more processors may compare the secondtemperature (e.g. temperature of the environment) to one or morepredetermined threshold values. The predetermined threshold value may beequal to or lower than about 0° C., −2° C., −5° C., −10° C., −15° C. Insome instances, the predetermined threshold value may be equal to orgreater than about 25° C., 30° C., 35° C., 40° C., 50° C., 60° C., 70°C., 85° C., or 100° C. If the second temperature is lower than thepredetermined threshold value, the one or more processors may impose arestriction on a flight of the UAV. Alternatively, if the secondtemperature is higher than the predetermined threshold value, the one ormore processors may impose a restriction on a flight of the UAV. Forexample, the UAV may be prohibited from taking off from the ground.

In some instances, processing the information may comprise determining areference temperature. The reference temperature may be an accurateapproximation of a temperature of a battery (e.g. battery cell). In someinstances, the reference temperature may an estimated internaltemperature of a battery. In some instances, the reference temperaturemay be determined based on both the first temperature and the secondtemperature. In some instances, the reference temperature may bedetermined in part by comparing the first temperature to the secondtemperature. When the first temperature is less than the secondtemperature, the reference temperature may be determined to be less thanthe first temperature. For example, the first temperature of the batterymay have increased due to heat exchange and/or conduction (e.g. from theenvironment, UAV components, etc) and an internal temperature of thebattery may be lower than the first temperature.

In some instances, the reference temperature may be calculated bysubtracting a predetermined value from the first temperature. Thepredetermined value may be equal to or less than about 0.1° C., 0.2° C.,0.5° C., 1° C., 2° C., 3° C., 4° C., 5° C., 7° C., or 10° C. In someinstances, the reference temperature may be calculated by multiplyingthe first temperature by a predetermined number. The predeterminednumber may be equal to or less than 1. For example, the predeterminednumber may be equal to or less than about 0.9, 0.8, 0.7, 0.6, 0.5, 0.4,0.3, 0.2, or 0.1. In some instances, the reference temperature may beutilized as a temperature of the battery in imposing restrictions forthe vehicle. For example, the reference temperature may be utilized asan operational parameter substantially described throughout.

When the first temperature is greater than the second temperature, thereference temperature may be determined to be equal to the firsttemperature. For example, the first temperature of the battery may havedecreased due to heat exchange and/or conduction (e.g. from theenvironment, UAV components, etc). However, heat generated by thebattery during its operation may be greater than the heat dissipatedaway and an internal temperature of the battery may not necessarily behigher than the first temperature. In some instances, the referencetemperature may be utilized as a temperature of the battery in imposingrestrictions for the vehicle. For example, the reference temperature maybe utilized as an operational parameter substantially describedthroughout.

FIG. 12 illustrates a method 1200 for operating a vehicle, in accordancewith embodiments. Method 1200 may be an example of a method in which thedevices and systems described throughout may be utilized in.

In step 1201, a first temperature may be measured. The first temperaturemay be a temperature of a battery operably coupled to the vehicle. Thefirst temperature may be measured with aid of a first temperaturesensor. The first temperature sensor may be any type of temperaturesensor. For example, the first temperature sensor may be a thermistorsuch as a negative temperature coefficient (NTC) thermistor. The firsttemperature sensor may be located at a first location. In someinstances, the first location may be on board the vehicle. Optionally,the first location may be on or near a battery operably coupled to thevehicle. For example, the first location may be within 2 cm of anexterior of the battery. In some instances, the battery may comprise abattery pack. In such cases, the first location may be between cells ofthe battery pack.

In step 1203, a second temperature may be measured. The secondtemperature may be a temperature of an environment. The environment maybe an environment around the vehicle. The second temperature may bemeasured with aid of a second temperature sensor. The second temperaturesensor may be any type of temperature sensor. For example, the secondtemperature sensor may be a thermistor such as a negative temperaturecoefficient (NTC) thermistor. The second temperature sensor may belocated at a second location. In some instances, the second location maybe on board the vehicle. Optionally, the second location may be on ornear an exterior of the vehicle. In some instances, the second locationmay be on a landing gear of the vehicle. Alternatively or in addition,the second location may be within an interior of a housing of thevehicle.

Steps 1205-1209 may be accomplished individually or collectively withaid of one or more processors. The one or more processors may be onboard the vehicle. Alternatively or in addition, the one or moreprocessors may be operably coupled to the vehicle but may be off boardthe vehicle. For example, the one or more processors may be located on acontroller or a mobile device coupled to the vehicle.

In step 1205, information regarding the first temperature and/or thesecond temperature may be received, and in step 1207, the receivedinformation may be processed. In some instances, processing theinformation may comprise comparing the second temperature to atemperature threshold. The temperature threshold may be equal or lowerthan about 0° C., −2° C., −5° C., −10° C., −15° C. or lower. In someinstances, the vehicle may be prevented from taking off if the secondtemperature is below the temperature threshold.

In some instances, processing the information may comprise determining areference temperature. In some instances, the reference temperature mayan estimated internal temperature of a battery. In some instances, thereference temperature may be determined based on both the firsttemperature and the second temperature.

The reference temperature may be determined in part by comparing thefirst temperature to the second temperature. In some instances, when thefirst temperature is less than the second temperature, the referencetemperature may be determined to be less than the first temperature. Forexample, the reference temperature may be determined to be less than thefirst temperature by a subtracting a predetermined value from the firsttemperature. For example, the reference temperature may be determined tobe less than the first temperature by multiplying the first temperatureby a predetermined number. The predetermined number may be equal to orless than 1. For example, the predetermined number may be equal to orless than about 0.9, 0.8, 0.7, 0.6, 0.5, 0.4, 0.3, 0.2, or 0.1. In someinstances, when the first temperature is greater than the secondtemperature, the reference temperature may be determined to be equal tothe first temperature. In some instances, when the first temperatureequals the second temperature, the reference temperature is determinedto be equal to the first temperature.

In step 1209, a restriction affecting operation of the vehicle may bedetermined and/or imposed based on the processed information. Forexample, a reference temperature determined in step 1207 may be utilizedin determining and/or imposing a restriction on the vehicle. In someinstances, the reference temperature may be utilized as a proxy of atemperature of a battery operably coupled to the UAV. In some instances,the reference temperature may be utilized as a more accurate temperatureof a battery operably coupled to the UAV as compared to either the firsttemperature or the second temperature. Accordingly, when the firsttemperature is less than the second temperature, an operator of thevehicle may have less control over operation of the vehicle as comparedto when the first temperature is equal to or greater than the secondtemperature. In some instances, when the first temperature is less thanthe second temperature, the vehicle may be configured to enter a warm upmode, substantially as described herein. For example, the warm up modemay be configured to make one or more motors of the vehicle spin suchthat the vehicle warms up. Optionally, steps 1201 through 1209 may berepeated, e.g. in real time or at predetermined intervals. Thepredetermined interval may be equal to, or less than about 0.01 s, 0.02s, 0.05 s, 0.1 s, 0.2 s, 0.5 s, 1 s, 2 s, 5 s, 10 s, 20 s, 50 s, 100 s,200 s, 500 s, or 1000 seconds. Accordingly, the restriction imposed onthe vehicle may varied dynamically, e.g. in real time or atpredetermined time intervals.

In some instances, a system may be provided for implementing the method1200. All elements described in the context of methods applies to thepractice of the subject systems, and vice versa. The system maycomprise: a first temperature sensor located at a first locationconfigured to measure a first temperature; a second temperature sensorlocated at a second location configured to measure a second temperature;one or more processors, individually or collectively configured to:receive information regarding the first temperature and/or the secondtemperature; process the information; and impose a restriction affectingoperation of the vehicle based on the processed information.

In some instances, a UAV may be provided for implementing the method1200. All elements described in the context of methods applies to thepractice of the subject UAVs, and vice versa. The UAV may comprise: oneor more propulsion units that effect flight of the UAV; a firsttemperature sensor located at a first location configured to measure afirst temperature; a second temperature sensor located at a secondlocation configured to measure a second temperature; one or moreprocessors, individually or collectively configured to: receiveinformation regarding the first temperature and/or the secondtemperature; process the information; and impose a restriction affectingoperation of the vehicle based on the processed information.

In some instances, a non-transitory computer readable medium may beprovided for implementing the method 1200. All elements described in thecontext of methods applies to the practice of the subject computerreadable mediums, and vice versa. The computer readable medium maycomprise code, logic, or instructions to: receive information regardinga first temperature measured at a first location and/or a secondtemperature measured at a second location; process the information; andimpose a restriction affecting operation of the vehicle based on theprocessed information.

The systems, devices, and methods provided herein may enable a flightcontrol of a UAV to operate with improved efficiency and predictability.By enabling the UAV to take into account various operational factors orparameters for imposing restrictions on the UAV, an operationalcapability of the UAV may be matched to what is permitted for the UAV,enabling the UAV to operate as desired in various environments andconditions. In addition, by matching characteristics of the batterysystem powering the UAV to a propelling system, insufficient and/orover-sufficient power output of the battery is prevented, which may leadto an increased lifetime of the battery, preventing accidents (e.g.crashing of the UAV), and maximizing use of the battery.

The systems, devices, and methods described herein can be applied to awide variety of movable objects. As previously mentioned, anydescription herein of an aerial vehicle may apply to and be used for anymovable object. A movable object of the present disclosure can beconfigured to move within any suitable environment, such as in air(e.g., a fixed-wing aircraft, a rotary-wing aircraft, or an aircrafthaving neither fixed wings nor rotary wings), in water (e.g., a ship ora submarine), on ground (e.g., a motor vehicle, such as a car, truck,bus, van, motorcycle; a movable structure or frame such as a stick,fishing pole; or a train), under the ground (e.g., a subway), in space(e.g., a spaceplane, a satellite, or a probe), or any combination ofthese environments. The movable object can be a vehicle, such as avehicle described elsewhere herein. In some embodiments, the movableobject can be mounted on a living subject, such as a human or an animal.Suitable animals can include avines, canines, felines, equines, bovines,ovines, porcines, delphines, rodents, or insects.

The movable object may be capable of moving freely within theenvironment with respect to six degrees of freedom (e.g., three degreesof freedom in translation and three degrees of freedom in rotation).Alternatively, the movement of the movable object can be constrainedwith respect to one or more degrees of freedom, such as by apredetermined path, track, or orientation. The movement can be actuatedby any suitable actuation mechanism, such as an engine or a motor. Theactuation mechanism of the movable object can be powered by any suitableenergy source, such as electrical energy, magnetic energy, solar energy,wind energy, gravitational energy, chemical energy, nuclear energy, orany suitable combination thereof. The movable object may beself-propelled via a propulsion system, as described elsewhere herein.The propulsion system may optionally run on an energy source, such aselectrical energy, magnetic energy, solar energy, wind energy,gravitational energy, chemical energy, nuclear energy, or any suitablecombination thereof. Alternatively, the movable object may be carried bya living being.

In some instances, the movable object can be a vehicle. Suitablevehicles may include water vehicles, aerial vehicles, space vehicles, orground vehicles. For example, aerial vehicles may be fixed-wing aircraft(e.g., airplane, gliders), rotary-wing aircraft (e.g., helicopters,rotorcraft), aircraft having both fixed wings and rotary wings, oraircraft having neither (e.g., blimps, hot air balloons). A vehicle canbe self-propelled, such as self-propelled through the air, on or inwater, in space, or on or under the ground. A self-propelled vehicle canutilize a propulsion system, such as a propulsion system including oneor more engines, motors, wheels, axles, magnets, rotors, propellers,blades, nozzles, or any suitable combination thereof. In some instances,the propulsion system can be used to enable the movable object to takeoff from a surface, land on a surface, maintain its current positionand/or orientation (e.g., hover), change orientation, and/or changeposition.

The movable object can be controlled remotely by a user or controlledlocally by an occupant within or on the movable object. In someembodiments, the movable object is an unmanned movable object, such as aUAV. An unmanned movable object, such as a UAV, may not have an occupantonboard the movable object. The movable object can be controlled by ahuman or an autonomous control system (e.g., a computer control system),or any suitable combination thereof. The movable object can be anautonomous or semi-autonomous robot, such as a robot configured with anartificial intelligence.

The movable object can have any suitable size and/or dimensions. In someembodiments, the movable object may be of a size and/or dimensions tohave a human occupant within or on the vehicle. Alternatively, themovable object may be of size and/or dimensions smaller than thatcapable of having a human occupant within or on the vehicle. The movableobject may be of a size and/or dimensions suitable for being lifted orcarried by a human. Alternatively, the movable object may be larger thana size and/or dimensions suitable for being lifted or carried by ahuman. In some instances, the movable object may have a maximumdimension (e.g., length, width, height, diameter, diagonal) of less thanor equal to about: 2 cm, 5 cm, 10 cm, 50 cm, 1 m, 2 m, 5 m, or 10 m. Themaximum dimension may be greater than or equal to about: 2 cm, 5 cm, 10cm, 50 cm, 1 m, 2 m, 5 m, or 10 m. For example, the distance betweenshafts of opposite rotors of the movable object may be less than orequal to about: 2 cm, 5 cm, 10 cm, 50 cm, 1 m, 2 m, 5 m, or 10 m.Alternatively, the distance between shafts of opposite rotors may begreater than or equal to about: 2 cm, 5 cm, 10 cm, 50 cm, 1 m, 2 m, 5 m,or 10 m.

In some embodiments, the movable object may have a volume of less than100 cm×100 cm×100 cm, less than 50 cm×50 cm×30 cm, or less than 5 cm×5cm×3 cm. The total volume of the movable object may be less than orequal to about: 1 cm³, 2 cm³, 5 cm³, 10 cm³, 20 cm³, 30 cm³, 40 cm³, 50cm³, 60 cm³, 70 cm³, 80 cm³, 90 cm³, 100 cm³, 150 cm³, 200 cm³, 300 cm³,500 cm³, 750 cm³, 1000 cm³, 5000 cm³, 10,000 cm³, 100,000 cm³, 1 m³, or10 m³. Conversely, the total volume of the movable object may be greaterthan or equal to about: 1 cm³, 2 cm³, 5 cm³, 10 cm³, 20 cm³, 30 cm³, 40cm³, 50 cm³, 60 cm³, 70 cm³, 80 cm³, 90 cm³, 100 cm³, 150 cm³, 200 cm³,300 cm³, 500 cm³, 750 cm³, 1000 cm³, 5000 cm³, 10,000 cm³, 100,000 cm³,1 m³, or 10 m³.

In some embodiments, the movable object may have a footprint (which mayrefer to the lateral cross-sectional area encompassed by the movableobject) less than or equal to about: 32,000 cm², 20,000 cm², 10,000 cm²,1,000 cm², 500 cm², 100 cm², 50 cm², 10 cm², or 5 cm². Conversely, thefootprint may be greater than or equal to about: 32,000 cm², 20,000 cm²,10,000 cm², 1,000 cm², 500 cm², 100 cm², 50 cm², 10 cm², or 5 cm².

In some instances, the movable object may weigh no more than 1000 kg.The weight of the movable object may be less than or equal to about:1000 kg, 750 kg, 500 kg, 200 kg, 150 kg, 100 kg, 80 kg, 70 kg, 60 kg, 50kg, 45 kg, 40 kg, 35 kg, 30 kg, 25 kg, 20 kg, 15 kg, 12 kg, 10 kg, 9 kg,8 kg, 7 kg, 6 kg, 5 kg, 4 kg, 3 kg, 2 kg, 1 kg, 0.5 kg, 0.1 kg, 0.05 kg,or 0.01 kg. Conversely, the weight may be greater than or equal toabout: 1000 kg, 750 kg, 500 kg, 200 kg, 150 kg, 100 kg, 80 kg, 70 kg, 60kg, 50 kg, 45 kg, 40 kg, 35 kg, 30 kg, 25 kg, 20 kg, 15 kg, 12 kg, 10kg, 9 kg, 8 kg, 7 kg, 6 kg, 5 kg, 4 kg, 3 kg, 2 kg, 1 kg, 0.5 kg, 0.1kg, 0.05 kg, or 0.01 kg.

In some embodiments, a movable object may be small relative to a loadcarried by the movable object. The load may include a payload and/or acarrier, as described in further detail below. In some examples, a ratioof a movable object weight to a load weight may be greater than, lessthan, or equal to about 1:1. In some instances, a ratio of a movableobject weight to a load weight may be greater than, less than, or equalto about 1:1. Optionally, a ratio of a carrier weight to a load weightmay be greater than, less than, or equal to about 1:1. When desired, theratio of an movable object weight to a load weight may be less than orequal to: 1:2, 1:3, 1:4, 1:5, 1:10, or even less. Conversely, the ratioof a movable object weight to a load weight can also be greater than orequal to: 2:1, 3:1, 4:1, 5:1, 10:1, or even greater.

In some embodiments, the movable object may have low energy consumption.For example, the movable object may use less than about: 5 W/h, 4 W/h, 3W/h, 2 W/h, 1 W/h, or less. In some instances, a carrier of the movableobject may have low energy consumption. For example, the carrier may useless than about: 5 W/h, 4 W/h, 3 W/h, 2 W/h, 1 W/h, or less. Optionally,a payload of the movable object may have low energy consumption, such asless than about: 5 W/h, 4 W/h, 3 W/h, 2 W/h, 1 W/h, or less.

FIG. 13 illustrates an unmanned aerial vehicle (UAV) 1300, in accordancewith embodiments of the present disclosure. The UAV may be an example ofa movable object as described herein. The UAV 1300 can include apropulsion system having four rotors 1302, 1304, 1306, and 1308. Anynumber of rotors may be provided (e.g., one, two, three, four, five,six, or more). The rotors, rotor assemblies, or other propulsion systemsof the unmanned aerial vehicle may enable the unmanned aerial vehicle tohover/maintain position, change orientation, and/or change location. Thedistance between shafts of opposite rotors can be any suitable length1310. For example, the length 1310 can be less than or equal to 1 m, orless than equal to 5 m. In some embodiments, the length 1310 can bewithin a range from 1 cm to 7 m, from 70 cm to 2 m, or from 5 cm to 5 m.Any description herein of a UAV may apply to a movable object, such as amovable object of a different type, and vice versa. The UAV may use anassisted takeoff system or method as described herein.

In some embodiments, the movable object can be configured to carry aload. The load can include one or more of passengers, cargo, equipment,instruments, and the like. The load can be provided within a housing.The housing may be separate from a housing of the movable object, or bepart of a housing for a movable object. Alternatively, the load can beprovided with a housing while the movable object does not have ahousing. Alternatively, portions of the load or the entire load can beprovided without a housing. The load can be rigidly fixed relative tothe movable object. Optionally, the load can be movable relative to themovable object (e.g., translatable or rotatable relative to the movableobject). The load can include a payload and/or a carrier, as describedelsewhere herein.

In some embodiments, the movement of the movable object, carrier, andpayload relative to a fixed reference frame (e.g., the surroundingenvironment) and/or to each other, can be controlled by a terminal. Theterminal can be a remote control device at a location distant from themovable object, carrier, and/or payload. The terminal can be disposed onor affixed to a support platform. Alternatively, the terminal can be ahandheld or wearable device. For example, the terminal can include asmartphone, tablet, laptop, computer, glasses, gloves, helmet,microphone, or suitable combinations thereof. The terminal can include auser interface, such as a keyboard, mouse, joystick, touchscreen, ordisplay. Any suitable user input can be used to interact with theterminal, such as manually entered commands, voice control, gesturecontrol, or position control (e.g., via a movement, location or tilt ofthe terminal).

The terminal can be used to control any suitable state of the movableobject, carrier, and/or payload. For example, the terminal can be usedto control the position and/or orientation of the movable object,carrier, and/or payload relative to a fixed reference from and/or toeach other. In some embodiments, the terminal can be used to controlindividual elements of the movable object, carrier, and/or payload, suchas the actuation assembly of the carrier, a sensor of the payload, or anemitter of the payload. The terminal can include a wirelesscommunication device adapted to communicate with one or more of themovable object, carrier, or payload.

The terminal can include a suitable display unit for viewing informationof the movable object, carrier, and/or payload. For example, theterminal can be configured to display information of the movable object,carrier, and/or payload with respect to position, translationalvelocity, translational acceleration, orientation, angular velocity,angular acceleration, or any suitable combinations thereof. In someembodiments, the terminal can display information provided by thepayload, such as data provided by a functional payload (e.g., imagesrecorded by a camera or other image capturing device).

Optionally, the same terminal may both control the movable object,carrier, and/or payload, or a state of the movable object, carrierand/or payload, as well as receive and/or display information from themovable object, carrier and/or payload. For example, a terminal maycontrol the positioning of the payload relative to an environment, whiledisplaying image data captured by the payload, or information about theposition of the payload. Alternatively, different terminals may be usedfor different functions. For example, a first terminal may controlmovement or a state of the movable object, carrier, and/or payload whilea second terminal may receive and/or display information from themovable object, carrier, and/or payload. For example, a first terminalmay be used to control the positioning of the payload relative to anenvironment while a second terminal displays image data captured by thepayload. Various communication modes may be utilized between a movableobject and an integrated terminal that both controls the movable objectand receives data, or between the movable object and multiple terminalsthat both control the movable object and receives data. For example, atleast two different communication modes may be formed between themovable object and the terminal that both controls the movable objectand receives data from the movable object.

FIG. 14 illustrates a movable object 1400 including a carrier 1402 and apayload 1404, in accordance with embodiments. Although the movableobject 1400 is depicted as an aircraft, this depiction is not intendedto be limiting, and any suitable type of movable object can be used, aspreviously described herein. One of skill in the art would appreciatethat any of the embodiments described herein in the context of aircraftsystems can be applied to any suitable movable object (e.g., an UAV). Insome instances, the payload 1404 may be provided on the movable object1400 without requiring the carrier 1402. The movable object 1400 mayinclude propulsion mechanisms 1406, a sensing system 1408, and acommunication system 1410.

The propulsion mechanisms 1406 can include one or more of rotors,propellers, blades, engines, motors, wheels, axles, magnets, or nozzles,as previously described. The movable object may have one or more, two ormore, three or more, or four or more propulsion mechanisms. Thepropulsion mechanisms may all be of the same type. Alternatively, one ormore propulsion mechanisms can be different types of propulsionmechanisms. The propulsion mechanisms 1406 can be mounted on the movableobject 1400 using any suitable means, such as a support element (e.g., adrive shaft) as described elsewhere herein. The propulsion mechanisms1406 can be mounted on any suitable portion of the movable object 1400,such on the top, bottom, front, back, sides, or suitable combinationsthereof.

In some embodiments, the propulsion mechanisms 1406 can enable themovable object 800 to take off vertically from a surface or landvertically on a surface without requiring any horizontal movement of themovable object 1400 (e.g., without traveling down a runway). Optionally,the propulsion mechanisms 1406 can be operable to permit the movableobject 1400 to hover in the air at a specified position and/ororientation. One or more of the propulsion mechanisms 1400 may becontrolled independently of the other propulsion mechanisms.Alternatively, the propulsion mechanisms 1400 can be configured to becontrolled simultaneously. For example, the movable object 1400 can havemultiple horizontally oriented rotors that can provide lift and/orthrust to the movable object. The multiple horizontally oriented rotorscan be actuated to provide vertical takeoff, vertical landing, andhovering capabilities to the movable object 1400. In some embodiments,one or more of the horizontally oriented rotors may spin in a clockwisedirection, while one or more of the horizontally rotors may spin in acounterclockwise direction. For example, the number of clockwise rotorsmay be equal to the number of counterclockwise rotors. The rotation rateof each of the horizontally oriented rotors can be varied independentlyin order to control the lift and/or thrust produced by each rotor, andthereby adjust the spatial disposition, velocity, and/or acceleration ofthe movable object 1400 (e.g., with respect to up to three degrees oftranslation and up to three degrees of rotation).

The sensing system 1408 can include one or more sensors that may sensethe spatial disposition, velocity, and/or acceleration of the movableobject 1400 (e.g., with respect to up to three degrees of translationand up to three degrees of rotation). The one or more sensors caninclude global positioning system (GPS) sensors, motion sensors,inertial sensors, proximity sensors, or image sensors. The sensing dataprovided by the sensing system 1408 can be used to control the spatialdisposition, velocity, and/or orientation of the movable object 1400(e.g., using a suitable processing unit and/or control module, asdescribed below). Alternatively, the sensing system 1408 can be used toprovide data regarding the environment surrounding the movable object,such as weather conditions, proximity to potential obstacles, locationof geographical features, location of manmade structures, and the like.

The communication system 1410 enables communication with terminal 1412having a communication system 1414 via wireless signals 1416. Thecommunication systems 1410, 1414 may include any number of transmitters,receivers, and/or transceivers suitable for wireless communication. Thecommunication may be one-way communication, such that data can betransmitted in only one direction. For example, one-way communicationmay involve only the movable object 1400 transmitting data to theterminal 1412, or vice-versa. The data may be transmitted from one ormore transmitters of the communication system 1410 to one or morereceivers of the communication system 1412, or vice-versa.Alternatively, the communication may be two-way communication, such thatdata can be transmitted in both directions between the movable object1400 and the terminal 1412. The two-way communication can involvetransmitting data from one or more transmitters of the communicationsystem 1410 to one or more receivers of the communication system 1414,and vice-versa.

In some embodiments, the terminal 1412 can provide control data to oneor more of the movable object 1400, carrier 1402, and payload 1404 andreceive information from one or more of the movable object 1400, carrier1402, and payload 1404 (e.g., position and/or motion information of themovable object, carrier or payload; data sensed by the payload such asimage data captured by a payload camera). In some instances, controldata from the terminal may include instructions for relative positions,movements, actuations, or controls of the movable object, carrier and/orpayload. For example, the control data may result in a modification ofthe location and/or orientation of the movable object (e.g., via controlof the propulsion mechanisms 1406), or a movement of the payload withrespect to the movable object (e.g., via control of the carrier 1402).The control data from the terminal may result in control of the payload,such as control of the operation of a camera or other image capturingdevice (e.g., taking still or moving pictures, zooming in or out,turning on or off, switching imaging modes, change image resolution,changing focus, changing depth of field, changing exposure time,changing viewing angle or field of view). In some instances, thecommunications from the movable object, carrier and/or payload mayinclude information from one or more sensors (e.g., of the sensingsystem 1408 or of the payload 1404). The communications may includesensed information from one or more different types of sensors (e.g.,GPS sensors, motion sensors, inertial sensor, proximity sensors, orimage sensors). Such information may pertain to the position (e.g.,location, orientation), movement, or acceleration of the movable object,carrier and/or payload. Such information from a payload may include datacaptured by the payload or a sensed state of the payload. The controldata provided transmitted by the terminal 1412 can be configured tocontrol a state of one or more of the movable object 1400, carrier 1402,or payload 1404. Alternatively or in combination, the carrier 1402 andpayload 1404 can also each include a communication module configured tocommunicate with terminal 1412, such that the terminal can communicatewith and control each of the movable object 1400, carrier 1402, andpayload 1404 independently.

In some embodiments, the movable object 1400 can be configured tocommunicate with another remote device in addition to the terminal 1412,or instead of the terminal 1412. The terminal 1412 may also beconfigured to communicate with another remote device as well as themovable object 1400. For example, the movable object 1400 and/orterminal 1412 may communicate with another movable object, or a carrieror payload of another movable object. When desired, the remote devicemay be a second terminal or other computing device (e.g., computer,laptop, tablet, smartphone, or other mobile device). The remote devicecan be configured to transmit data to the movable object 1400, receivedata from the movable object 1400, transmit data to the terminal 1412,and/or receive data from the terminal 1412. Optionally, the remotedevice can be connected to the Internet or other telecommunicationsnetwork, such that data received from the movable object 1400 and/orterminal 1412 can be uploaded to a website or server.

FIG. 15 is a schematic illustration by way of block diagram of a system1500 for controlling a movable object, in accordance with embodiments.The system 1500 can be used in combination with any suitable embodimentof the systems, devices, and methods disclosed herein. The system 1500can include a sensing module 1502, processing unit 1504, non-transitorycomputer readable medium 1506, control module 1508, and communicationmodule 1510.

The sensing module 1502 can utilize different types of sensors thatcollect information relating to the movable objects in different ways.Different types of sensors may sense different types of signals orsignals from different sources. For example, the sensors can includeinertial sensors, GPS sensors, proximity sensors (e.g., lidar), orvision/image sensors (e.g., a camera). The sensing module 1502 can beoperatively coupled to a processing unit 1504 having a plurality ofprocessors. In some embodiments, the sensing module can be operativelycoupled to a transmission module 1512 (e.g., a Wi-Fi image transmissionmodule) configured to directly transmit sensing data to a suitableexternal device or system. For example, the transmission module 1512 canbe used to transmit images captured by a camera of the sensing module1502 to a remote terminal.

The processing unit 1504 can have one or more processors, such as aprogrammable processor (e.g., a central processing unit (CPU)). Theprocessing unit 1504 can be operatively coupled to a non-transitorycomputer readable medium 1506. The non-transitory computer readablemedium 1506 can store logic, code, and/or program instructionsexecutable by the processing unit 1504 for performing one or more steps.The non-transitory computer readable medium can include one or morememory units (e.g., removable media or external storage such as an SDcard or random access memory (RAM)). In some embodiments, data from thesensing module 1502 can be directly conveyed to and stored within thememory units of the non-transitory computer readable medium 1506. Thememory units of the non-transitory computer readable medium 1506 canstore logic, code and/or program instructions executable by theprocessing unit 1504 to perform any suitable embodiment of the methodsdescribed herein. For example, the processing unit 1504 can beconfigured to execute instructions causing one or more processors of theprocessing unit 1504 to analyze sensing data produced by the sensingmodule. The memory units can store sensing data from the sensing moduleto be processed by the processing unit 1504. In some embodiments, thememory units of the non-transitory computer readable medium 1506 can beused to store the processing results produced by the processing unit1504.

In some embodiments, the processing unit 1504 can be operatively coupledto a control module 1508 configured to control a state of the movableobject. For example, the control module 1508 can be configured tocontrol the propulsion mechanisms of the movable object to adjust thespatial disposition, velocity, and/or acceleration of the movable objectwith respect to six degrees of freedom. Alternatively or in combination,the control module 1508 can control one or more of a state of a carrier,payload, or sensing module.

The processing unit 1504 can be operatively coupled to a communicationmodule 1510 configured to transmit and/or receive data from one or moreexternal devices (e.g., a terminal, display device, or other remotecontroller). Any suitable means of communication can be used, such aswired communication or wireless communication. For example, thecommunication module 1510 can utilize one or more of local area networks(LAN), wide area networks (WAN), infrared, radio, WiFi, point-to-point(P2P) networks, telecommunication networks, cloud communication, and thelike. Optionally, relay stations, such as towers, satellites, or mobilestations, can be used. Wireless communications can be proximitydependent or proximity independent. In some embodiments, line-of-sightmay or may not be required for communications. The communication module1510 can transmit and/or receive one or more of sensing data from thesensing module 1502, processing results produced by the processing unit1504, predetermined control data, user commands from a terminal orremote controller, and the like.

The components of the system 1500 can be arranged in any suitableconfiguration. For example, one or more of the components of the system1500 can be located on the movable object, carrier, payload, terminal,sensing system, or an additional external device in communication withone or more of the above. Additionally, although FIG. 15 depicts asingle processing unit 1504 and a single non-transitory computerreadable medium 1506, one of skill in the art would appreciate that thisis not intended to be limiting, and that the system 1500 can include aplurality of processing units and/or non-transitory computer readablemedia. In some embodiments, one or more of the plurality of processingunits and/or non-transitory computer readable media can be situated atdifferent locations, such as on the movable object, carrier, payload,terminal, sensing module, additional external device in communicationwith one or more of the above, or suitable combinations thereof, suchthat any suitable aspect of the processing and/or memory functionsperformed by the system 1500 can occur at one or more of theaforementioned locations.

As used herein A and/or B encompasses one or more of A or B, andcombinations thereof such as A and B. It will be understood thatalthough the terms “first,” “second,” “third” etc. may be used herein todescribe various elements, components, regions and/or sections, theseelements, components, regions and/or sections should not be limited bythese terms. These terms are merely used to distinguish one element,component, region or section from another element, component, region orsection. Thus, a first element, component, region or section discussedbelow could be termed a second element, component, region or sectionwithout departing from the teachings of the present disclosure.

The terminology used herein is for the purpose of describing particularembodiments only and is not intended to be limiting of the disclosure.As used herein, the singular forms “a”, “an” and “the” are intended toinclude the plural forms as well, unless the context clearly indicatesotherwise. It will be further understood that the terms “comprises”and/or “comprising,” or “includes” and/or “including,” when used in thisspecification, specify the presence of stated features, regions,integers, steps, operations, elements and/or components, but do notpreclude the presence or addition of one or more other features,regions, integers, steps, operations, elements, components and/or groupsthereof.

Furthermore, relative terms, such as “lower” or “bottom” and “upper” or“top” may be used herein to describe one element's relationship to otherelements as illustrated in the figures. It will be understood thatrelative terms are intended to encompass different orientations of theelements in addition to the orientation depicted in the figures. Forexample, if the element in one of the figures is turned over, elementsdescribed as being on the “lower” side of other elements would then beoriented on the “upper” side of the other elements. The exemplary term“lower” can, therefore, encompass both an orientation of “lower” and“upper,” depending upon the particular orientation of the figure.Similarly, if the element in one of the figures were turned over,elements described as “below” or “beneath” other elements would then beoriented “above” the other elements. The exemplary terms “below” or“beneath” can, therefore, encompass both an orientation of above andbelow.

While some embodiments of the present disclosure have been shown anddescribed herein, it will be obvious to those skilled in the art thatsuch embodiments are provided by way of example only. Numerousvariations, changes, and substitutions will now occur to those skilledin the art without departing from the disclosure. It should beunderstood that various alternatives to the embodiments of thedisclosure described herein may be employed in practicing thedisclosure. Numerous different combinations of embodiments describedherein are possible, and such combinations are considered part of thepresent disclosure. In addition, all features discussed in connectionwith any one embodiment herein can be readily adapted for use in otherembodiments herein. It is intended that the following claims define thescope of the invention and that methods and structures within the scopeof these claims and their equivalents be covered thereby.

What is claimed is:
 1. A system for operating a vehicle, comprising: afirst temperature sensor located at a first location and configured tomeasure a first temperature; a second temperature sensor located at asecond location configured to measure a second temperature; one or moreprocessors, individually or collectively configured to: receiveinformation regarding the first temperature and/or the secondtemperature; process the information; and impose a restriction affectingoperation of the vehicle based on the processed information.
 2. Thesystem of claim 1, wherein the one or more processors are configured todetermine a reference temperature, the reference temperature being anestimated internal temperature of a battery operably coupled to thevehicle.
 3. The system of claim 2, wherein the one or more processorsare further configured to determine the reference temperature bycomparing the first temperature with the second temperature.
 4. Thesystem of claim 3, wherein the one or more processors are furtherconfigured to, in response to the first temperature being less than thesecond temperature: determine the reference temperature to be less thanthe first temperature by a predetermined value; or determine thereference temperature by multiplying the first temperature by apredetermined number, the reference temperature being less than thefirst temperature.
 5. The system of claim 3, wherein the one or moreprocessors are further configured to determine the reference temperatureto be equal to the first temperature in response to the firsttemperature being greater than or equal to the second temperature. 6.The system of claim 1, wherein the one or more processors are furtherconfigured to, in response to the first temperature being less than thesecond temperature, impose the restriction to restrict an operator ofthe vehicle to have less control over operation of the vehicle ascompared to when the first temperature is equal to or greater than thesecond temperature.
 7. The system of claim 1, wherein the one or moreprocessors are further configured to, in response to the firsttemperature being less than the second temperature, impose therestriction to control the vehicle to enter a warm up mode.
 8. Thesystem of claim 1, wherein the first temperature is a temperature of abattery operably coupled to the vehicle.
 9. The system of claim 8,wherein the first location is on or near a battery.
 10. The system ofclaim 1, wherein the second temperature is a temperature of anenvironment surrounding the vehicle.
 11. The system of claim 10, whereinthe second location is on or near an exterior of the vehicle, on alanding gear of the vehicle, or within an interior of a housing of thevehicle.
 12. The system of claim 1, wherein processing the informationincludes comparing the first temperature with a temperature threshold.13. The system of claim 12, wherein the one or more processors arefurther configured to, in response to the first temperature being belowthe temperature threshold, impose the restriction to prevent the vehiclefrom taking off.
 14. A method for operating a vehicle, comprising:obtaining a first temperature measured by a first temperature sensorlocated at a first location; obtaining a second temperature measured bya second temperature sensor located at a second location; processinginformation regarding at least one of the first temperature and thesecond temperature; and imposing a restriction affecting operation ofthe vehicle based on the processed information.
 15. The method of claim14, further comprising: determining a reference temperature, thereference temperature being an estimated internal temperature of abattery operably coupled to the vehicle.
 16. The method of claim 15,further comprising: determining the reference temperature by comparingthe first temperature with the second temperature.
 17. The method ofclaim 16, wherein determining the reference temperature includes: inresponse to the first temperature being less than the secondtemperature, determining the reference temperature to be less than thefirst temperature by a predetermined value; or determining the referencetemperature by multiplying the first temperature by a predeterminednumber, the reference temperature being less than the first temperature.18. The method of claim 16, wherein determining the referencetemperature includes determining the reference temperature to be equalto the first temperature in response to the first temperature beinggreater than or equal to the second temperature.
 19. The system of claim14, wherein imposing the restriction includes in response to the firsttemperature being less than the second temperature, restricting anoperator of the vehicle to have less control over operation of thevehicle as compared to when the first temperature is equal to or greaterthan the second temperature.
 20. The system of claim 14, whereinimposing the restriction includes in response to the first temperaturebeing less than the second temperature, controlling the vehicle to entera warm up mode.